Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali

This project is on the kinematic analysis of a robotic finger mechanism. The goals for this project are to analyze the finger mechanism design using kinematic analysis and develop virtual experimental jig for simulation. The mechanism used in this project is Shape Memory Alloy (SMA) as an actuator....

Full description

Saved in:

Bibliographic Details
Main Author:	Mohd Ali, Nor Azreen
Format:	Thesis
Language:	English
Published:	2011
Subjects:	Robotics Robots Manipulators (Mechanism)
Online Access:	https://ir.uitm.edu.my/id/eprint/36513/1/36513.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uitm-ir.36513
record_format	uketd_dc
spelling	my-uitm-ir.365132020-11-11T14:58:13Z Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali 2011 Mohd Ali, Nor Azreen Robotics. Robots. Manipulators (Mechanism) This project is on the kinematic analysis of a robotic finger mechanism. The goals for this project are to analyze the finger mechanism design using kinematic analysis and develop virtual experimental jig for simulation. The mechanism used in this project is Shape Memory Alloy (SMA) as an actuator. The preliminary testing on SMA consists of a simple kit testing from the supplier. The result of the preliminary testing showed that the SMA responded to change in open and closed air surrounding. The analysis process starts by drawing, simulating and analyzing the critical points on the robotic finger mechanism using CATIA software. The result from the analysis shows that the maximum critical point occurs at the fingertip and the knuckle of the finger. The problem detected in the robotic finger is frequently cracks at the hook. After properly analyzing the behaviour the SMA and taking care of some precaution action to avoid the robotic finger mechanism failure, a jig that is more efficient to use is designed. As a conclusion, the overall testing is to know the optimum design in the robotic finger and analyze it by using the application of SMA as actuators on robotic finger. 2011 Thesis https://ir.uitm.edu.my/id/eprint/36513/ https://ir.uitm.edu.my/id/eprint/36513/1/36513.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) Mohd Ali, Nor Azreen Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
description	This project is on the kinematic analysis of a robotic finger mechanism. The goals for this project are to analyze the finger mechanism design using kinematic analysis and develop virtual experimental jig for simulation. The mechanism used in this project is Shape Memory Alloy (SMA) as an actuator. The preliminary testing on SMA consists of a simple kit testing from the supplier. The result of the preliminary testing showed that the SMA responded to change in open and closed air surrounding. The analysis process starts by drawing, simulating and analyzing the critical points on the robotic finger mechanism using CATIA software. The result from the analysis shows that the maximum critical point occurs at the fingertip and the knuckle of the finger. The problem detected in the robotic finger is frequently cracks at the hook. After properly analyzing the behaviour the SMA and taking care of some precaution action to avoid the robotic finger mechanism failure, a jig that is more efficient to use is designed. As a conclusion, the overall testing is to know the optimum design in the robotic finger and analyze it by using the application of SMA as actuators on robotic finger.
format	Thesis
qualification_level	Bachelor degree
author	Mohd Ali, Nor Azreen
author_facet	Mohd Ali, Nor Azreen
author_sort	Mohd Ali, Nor Azreen
title	Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
title_short	Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
title_full	Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
title_fullStr	Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
title_full_unstemmed	Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali
title_sort	kinematic analysis on robotic finger mechanism / nor azreen mohd ali
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2011
url	https://ir.uitm.edu.my/id/eprint/36513/1/36513.pdf
_version_	1783734341619154944

Kinematic analysis on robotic finger mechanism / Nor Azreen Mohd Ali

Similar Items