Robotic Arm for Biomedical Applications: Modelling and Analysis of 18R-2T

Arockia Selvakumar Arockia Doss, Birupakshya Mishra, Safal Mohammed, Michael Short, Pavan Kalyan Lingampally

Research output: Chapter in Book/Report/Conference proceedingChapter


Our aim is to develop a robotic prosthetic that can replicate the functions of a human hand. To achieve the functionality, a model with 20 degrees of freedom is designed. The model consists of 18 revolute joints and 2 twisting joints. Each finger consists of 3 revolute joints and the wrist consists of 1 twisting joint. The forearm has 1 revolute joint, while the shoulder comprises of 2 revolute joints and 1 twisting joint. SolidWorks software was used to carry out the conceptual design of the model. The model is designed to be mechanically stable while being light in weight. The structural analysis of the model was conducted using the Ansys software. To understand whether the model can withstand tasks on a daily basis, a force of 800 N is applied to the model. The amount of deformation of the body is analyzed by this force analysis and the factor of safety is determined, further enhancing the durability of the model. The parts were meshed and stress analysis was carried out. Principle stress analysis and von Mises stress analysis were also carried out. During the analysis, the model was found to be viable and structurally stable. The proposed model has improved functionality and is cost-effective and lighter in weight over other models available.
Original languageEnglish
Title of host publicationHandbook of Smart Materials, Technologies, and Devices
Subtitle of host publicationApplications of Industry 4.0
EditorsChaudhery Mustansar Hussain, Paulo Di Sia
PublisherSpringer Nature Switzerland AG
Number of pages24
ISBN (Electronic)9783030586751
ISBN (Print)9783030586751
Publication statusE-pub ahead of print - 8 Mar 2022


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