د.وفاء عبد سعود- د.احسان عبدالحسين باقر - محمد رائد احمد
المؤلفون بالإنجليزي
Ihsan A. Baqer, Wafa Abd Soud & Mohammed R. Ahmed
الملخص الانجليزي
This paper presents a novel design of the robotic finger as a development of the Otto bock
hand design, especially in the index finger of the hand. Namely, make it composed from three
phalanges instead of a single one. In addition, in order to improve the grasping dexterity, a
four-bar mechanism for each phalanx was used. This results in finding the optimum dimensions
of the linkages to drive the robotic finger. To achieve such aim, a Genetic Algorithm (G.A) was
employed. Two criteria were chosen for finding the optimal solution; Grasping force criterion
and Squeezing force criterion. The optimisation criteria are based on the force analysis
equations that derived to calculate the contact forces during power grasping action. The
prosthetic finger was built from PLA (Polylactic Acid) plastic using a 3D printer and tested
experimentally through a special measuring mechanism provided with a sensory system. The
experimental and the theoretical results of the normal force of the finger were in good
agreement.
أ.م.د.وفاء عبد سعود | Asst.Prof. dr.Wafa Abd Soud | 2847