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Topology Optimization Of A Fully Compliant Finger Of Hand Exoskeleton: Design And Testing

Posted on:2017-02-07Degree:MasterType:Thesis
Country:ChinaCandidate:Y ZhengFull Text:PDF
GTID:2272330482498670Subject:Mechanical and electrical engineering
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Hand exoskeletons are wearable robotic machines originally envisioned for human hand functional recovery for stroke hemiplegic patients. The finger design is one of the most important parts in the hand exoskeleton. Traditional fingers of hand exoskeleton use rigid links and kinematic joints, which leads to the fingers that lack adaptability. Problems related to the mechanical design are the result of using conventional rigid links and kinematic joints. Friction, backlash, wear, lubrication, fabrication costs, maintenance and weight are all problems related to this group.The overall objective of this thesis study was to solve the aforementioned problem. The specific objectives of the study were:(1) Consideration of a systematic procedure for design of the finger of the hand exoskeleton to make it meet the function requirement and more adaptive; (2) Application of the systematic procedure to design the finger of the hand exoskeleton and the control unit to address the areas of concerns.Four works have been done to achieve the objectives:(1) A home-based topology optimization method was used for the structural synthesis and dimensional analysis in order to determine the topology and geometry of the finger. (2) Finite element analysis was performed to compare with the experimental results. (3) A prototype was manufactured and experimented for its performance. (4) An actuation system and a control unit for the finger were set up on the basis of the experimental result.This study concluded:(1) The compliant finger met the design requirements and overcome some problems present in the traditional fingers of hand exoskeleton. (2) The home-made topology optimization method is reliable for the design of finger of hand exoskeleton.The main contributions of the thesis are of two folds. First, the home-based topology optimization design methodology for finger of hand exoskeleton is more rational than the existing approach in the field of design theory and methodology. Second, a compliant finger with actuation system is presented and it is more adaptive and lighter than the old ones.
Keywords/Search Tags:hand exoskeleton, compliant finger mechanisms, topology optimization
PDF Full Text Request
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