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

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

doi:10.1007/978-3-030-58675-1_38-1

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 proceeding › Chapter

Abstract

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 language	English
Title of host publication	Handbook of Smart Materials, Technologies, and Devices
Subtitle of host publication	Applications of Industry 4.0
Editors	Chaudhery Mustansar Hussain, Paulo Di Sia
Publisher	Springer Nature Switzerland AG
Number of pages	24
ISBN (Electronic)	9783030586751
ISBN (Print)	9783030586751
DOIs	https://doi.org/10.1007/978-3-030-58675-1_38-1
Publication status	E-pub ahead of print - 8 Mar 2022

Access to Document

10.1007/978-3-030-58675-1_38-1

Cite this

Arockia Doss, A. S., Mishra, B., Mohammed, S., Short, M., & Lingampally, P. K. (2022). Robotic Arm for Biomedical Applications: Modelling and Analysis of 18R-2T. In C. M. Hussain, & P. Di Sia (Eds.), Handbook of Smart Materials, Technologies, and Devices: Applications of Industry 4.0 Springer Nature Switzerland AG. Advance online publication. https://doi.org/10.1007/978-3-030-58675-1_38-1

@inbook{b8913a2ca0194dee8e9d8da05099c610,

title = "Robotic Arm for Biomedical Applications: Modelling and Analysis of 18R-2T",

abstract = "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.",

author = "{Arockia Doss}, {Arockia Selvakumar} and Birupakshya Mishra and Safal Mohammed and Michael Short and Lingampally, {Pavan Kalyan}",

year = "2022",

month = mar,

day = "8",

doi = "10.1007/978-3-030-58675-1_38-1",

language = "English",

isbn = "9783030586751",

editor = "Hussain, {Chaudhery Mustansar} and {Di Sia}, Paulo",

booktitle = "Handbook of Smart Materials, Technologies, and Devices",

publisher = "Springer Nature Switzerland AG",

address = "Switzerland",

}

Robotic Arm for Biomedical Applications: Modelling and Analysis of 18R-2T. / Arockia Doss, Arockia Selvakumar; Mishra, Birupakshya; Mohammed, Safal et al.
Handbook of Smart Materials, Technologies, and Devices: Applications of Industry 4.0. ed. / Chaudhery Mustansar Hussain; Paulo Di Sia. Springer Nature Switzerland AG, 2022.

Research output: Chapter in Book/Report/Conference proceeding › Chapter

TY - CHAP

T1 - Robotic Arm for Biomedical Applications

T2 - Modelling and Analysis of 18R-2T

AU - Arockia Doss, Arockia Selvakumar

AU - Mishra, Birupakshya

AU - Mohammed, Safal

AU - Short, Michael

AU - Lingampally, Pavan Kalyan

PY - 2022/3/8

Y1 - 2022/3/8

N2 - 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.

AB - 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.

U2 - 10.1007/978-3-030-58675-1_38-1

DO - 10.1007/978-3-030-58675-1_38-1

M3 - Chapter

SN - 9783030586751

BT - Handbook of Smart Materials, Technologies, and Devices

A2 - Hussain, Chaudhery Mustansar

A2 - Di Sia, Paulo

PB - Springer Nature Switzerland AG

ER -

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

Abstract

Access to Document

Fingerprint

Cite this