Mechanical and Forward Kinematic Analysis of Prosthetic Robot Hand for T-FLoW 3.0

摘要

This paper discusses about analysis the mechanical and forward kinematic of Prosthetic Robot Hand for T-FLoW 3.0, because it is the basic thing in building Prosthetic Robot Hand. This Prosthetic Robot Hand has 15 DoF which represented by 6 motors as the actuator. Mechanism which used for actuating each finger is by twisting the cable. The material used is PLA with 3D printed way for getting mass as light as possible and also easy to install. Mechanical analysis in this paper is to discuss the strength of the finger structure using the static structural analysis method. The kinematics that will be discussed in this paper is Forward Kinematic (FK). In mechanism design, FK is used to find constraint, calculate position vector of End of Efector (EoE). But, this paper only discusses the FK used to be looking for the constraint, it means that how maximum is the point that can be reached by finger with maximum degree of each joint of finger.