Design and Analysis of Fingers For Humanoid - Prosthetic Hand

This book aims to design and model the structure of a prosthetic hand with fingers working with two sets of links embedded within the finger structure to be operated by a servomotor for each finger except the thumb, which is driven by 2 servo motors. Significant for the theoretical results and the results obtained through MATLAB, and there was congruence in the results at the angle of 90o. The dynamic equations were also derived by Newton Euler's method. The prosthetic fingers were modeled by Solid Works-2018 where a numerical analysis was carried out to find out the stresses and strains that the prosthetic hand may be exposed to, and it was found that the highest stress occurs at the top of the finger compared to the assembled finger with a rate of 71.81% at a load of 100 N. Then the optimization work was performed on the fingers of the prosthetic hand in order to obtain the min mass with the best stiffness by 30%. The largest amount of mass reduction was for the index finger by an amount of 3.6 gm., and the lowest amount of 0.28119 gm. was for the little finger. The prosthetic fingers and hands were modeled through a 3D printer using the filament peter.