Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim

Recently, industrial robots have been improved remarkably and applied with wide range of task to assist human. Robotic hand gives lots of benefits to human daily life by acting as prosthetic hand and effective robot end-effectors. This project covers the development of four robotic fingers which are...

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Main Author:	Abu Kasim, Nur Atikah
Format:	Thesis
Language:	English
Published:	2011
Subjects:	Robotics Robots Manipulators (Mechanism)
Online Access:	https://ir.uitm.edu.my/id/eprint/36515/1/36515.pdf
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id	my-uitm-ir.36515
record_format	uketd_dc
spelling	my-uitm-ir.365152020-11-11T16:08:29Z Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim 2011 Abu Kasim, Nur Atikah Robotics. Robots. Manipulators (Mechanism) Recently, industrial robots have been improved remarkably and applied with wide range of task to assist human. Robotic hand gives lots of benefits to human daily life by acting as prosthetic hand and effective robot end-effectors. This project covers the development of four robotic fingers which are the index, middle, ring and pinky finger. This encompasses the design of mechanical structure and hybrid actuation system of the robotic fingers. The hybrid actuation system used by the robotic fingers is a combination of a miniature DC motor actuator with a Shape Memory Alloy (SMA) wire. The metacarpal phalange joint of the fingers uses a miniature DC motor based actuation system whereas the proximal inter phalange joint uses a SMA wire based actuation system and the distal inter phalange joint uses mechanical linkages based actuation system. Kinematic analysis was carried out on the robotic fingers in order to obtain the working envelope of the robotic fingers while the simulation and clash analysis were conducted by using CATIA. Then, Rapid Prototyping technique was applied to fabricate the four robotic fingers' model. This model would verify the simulation and clash analysis conducted on the robotic fingers design. 2011 Thesis https://ir.uitm.edu.my/id/eprint/36515/ https://ir.uitm.edu.my/id/eprint/36515/1/36515.pdf text en public degree Universiti Teknologi MARA Faculty of Mechanical Engineering
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
topic	Robotics Robots Manipulators (Mechanism)
spellingShingle	Robotics Robots Manipulators (Mechanism) Abu Kasim, Nur Atikah Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
description	Recently, industrial robots have been improved remarkably and applied with wide range of task to assist human. Robotic hand gives lots of benefits to human daily life by acting as prosthetic hand and effective robot end-effectors. This project covers the development of four robotic fingers which are the index, middle, ring and pinky finger. This encompasses the design of mechanical structure and hybrid actuation system of the robotic fingers. The hybrid actuation system used by the robotic fingers is a combination of a miniature DC motor actuator with a Shape Memory Alloy (SMA) wire. The metacarpal phalange joint of the fingers uses a miniature DC motor based actuation system whereas the proximal inter phalange joint uses a SMA wire based actuation system and the distal inter phalange joint uses mechanical linkages based actuation system. Kinematic analysis was carried out on the robotic fingers in order to obtain the working envelope of the robotic fingers while the simulation and clash analysis were conducted by using CATIA. Then, Rapid Prototyping technique was applied to fabricate the four robotic fingers' model. This model would verify the simulation and clash analysis conducted on the robotic fingers design.
format	Thesis
qualification_level	Bachelor degree
author	Abu Kasim, Nur Atikah
author_facet	Abu Kasim, Nur Atikah
author_sort	Abu Kasim, Nur Atikah
title	Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
title_short	Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
title_full	Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
title_fullStr	Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
title_full_unstemmed	Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim
title_sort	design and development of robotic fingers with hybrid actuation system / nur atikah abu kasim
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2011
url	https://ir.uitm.edu.my/id/eprint/36515/1/36515.pdf
_version_	1783734342102548480

Design and development of robotic fingers with hybrid actuation system / Nur Atikah Abu Kasim

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