Design And Analysis Of Mechanical Hand Using Computer Aided Mechanism Design (CAMD) Technique

Muhamad Khalis , Ramli (2009) Design And Analysis Of Mechanical Hand Using Computer Aided Mechanism Design (CAMD) Technique. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Robotic hands are still long way from matching the grasping and manipulation capability of their human counterparts. One way to push the research further along is to use computer modeling and simulation to learn more about human and robotic grasping. This project have used LEGO MINDSTORMS model to construct the robotic hand for replace robotics that present nowadays. This project also analyzed by using three software to design, simulating something and analysis for this model. Among them is, COSMOSMotion, Lego Digital Designer, and SolidWorks 2007. All software that has been used provides the convenience type of design hand from the various aspects. It can accommodate a wide variety of hand designs, and it can evaluate grasps formed by these hands, as well as perform full dynamic simulation of the grasping process. In this research, it presents the various components of the systems, and describes the projects which use it as an integral part of larger grasp planning systems. This project also discusses the development of a human hand model that uses accurate geometry and kinematics derived from experimental measurements. This is part of current project to create a biomechanically realistic human hand model to better understand what features are most important to mimic in the designs of robotic hands by using this LEGO MINDSTORMS model.

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