Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim

Rapid development of robot technology has led to the gradual review of the use of robots in human life. Studies conducted have led to the discovery of robotic hand to help disabled people. The existing robotic hands are varying from the point of design, mechanism, system and functionality. This proj...

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Main Author:	Halim, Hafishah
Format:	Thesis
Language:	English
Published:	2011
Subjects:	Robotics Robots Manipulators (Mechanism)
Online Access:	https://ir.uitm.edu.my/id/eprint/36398/1/36398.pdf
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id	my-uitm-ir.36398
record_format	uketd_dc
spelling	my-uitm-ir.363982020-11-09T07:34:55Z Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim 2011 Halim, Hafishah Robotics. Robots. Manipulators (Mechanism) Rapid development of robot technology has led to the gradual review of the use of robots in human life. Studies conducted have led to the discovery of robotic hand to help disabled people. The existing robotic hands are varying from the point of design, mechanism, system and functionality. This project presents evaluating and testing the mechanical structure of a robotic finger system in order to determine the mechanical strength and durability of the structure and mechanism of the finger. Design of the robotic finger is being evaluated and analyzed. There are two different finger designs being studied in order to make comparison between these designs in terms of their strength and durability. A dynamic analysis method is conducted to verify theoretically the strength of the robotic finger. The testing on the finger structure is called as destructive test. Tests are carried out until the specimen fail, in order to verify the specimen's structural performance under different load. Three types of destructive tests are conducted on the robotic finger structure namely: flexural test of the robotic finger design by applying load on the specimen until it breaks and tensile test for the Distal Interphalangeal (DIP) and Proximal Interphalangeal (PIP) strength by pulling the two ends of the joints until broken. The third test is on Shape Memory Alloy (SMA) wire that is used in the actuation mechanism together with a miniature motor as a hybrid system. The SMA-wire is tested to obtain the result of its strength when two ends of the wire are pulled. The testing revealed several limitations and verified the robotic finger's capabilities. Results obtained from the testing are used to further design optimization of the robotic finger. 2011 Thesis https://ir.uitm.edu.my/id/eprint/36398/ https://ir.uitm.edu.my/id/eprint/36398/1/36398.pdf text en public degree Universiti Teknologi MARA Faculty of Mechanical Engineering Jaafar, Roseleena
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Jaafar, Roseleena
topic	Robotics Robots Manipulators (Mechanism)
spellingShingle	Robotics Robots Manipulators (Mechanism) Halim, Hafishah Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
description	Rapid development of robot technology has led to the gradual review of the use of robots in human life. Studies conducted have led to the discovery of robotic hand to help disabled people. The existing robotic hands are varying from the point of design, mechanism, system and functionality. This project presents evaluating and testing the mechanical structure of a robotic finger system in order to determine the mechanical strength and durability of the structure and mechanism of the finger. Design of the robotic finger is being evaluated and analyzed. There are two different finger designs being studied in order to make comparison between these designs in terms of their strength and durability. A dynamic analysis method is conducted to verify theoretically the strength of the robotic finger. The testing on the finger structure is called as destructive test. Tests are carried out until the specimen fail, in order to verify the specimen's structural performance under different load. Three types of destructive tests are conducted on the robotic finger structure namely: flexural test of the robotic finger design by applying load on the specimen until it breaks and tensile test for the Distal Interphalangeal (DIP) and Proximal Interphalangeal (PIP) strength by pulling the two ends of the joints until broken. The third test is on Shape Memory Alloy (SMA) wire that is used in the actuation mechanism together with a miniature motor as a hybrid system. The SMA-wire is tested to obtain the result of its strength when two ends of the wire are pulled. The testing revealed several limitations and verified the robotic finger's capabilities. Results obtained from the testing are used to further design optimization of the robotic finger.
format	Thesis
qualification_level	Bachelor degree
author	Halim, Hafishah
author_facet	Halim, Hafishah
author_sort	Halim, Hafishah
title	Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
title_short	Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
title_full	Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
title_fullStr	Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
title_full_unstemmed	Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim
title_sort	evaluating and testing the mechanical structure of a robotic finger system / hafishah halim
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2011
url	https://ir.uitm.edu.my/id/eprint/36398/1/36398.pdf
_version_	1783734334114496512

Evaluating and testing the mechanical structure of a robotic finger system / Hafishah Halim

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