3D Printed Prosthetic Finger, Model, and Simulation printed... · 2021. 7. 28. · 3D printed...
Transcript of 3D Printed Prosthetic Finger, Model, and Simulation printed... · 2021. 7. 28. · 3D printed...
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3D printed prosthetic finger: design, model and simulation
By
Krutika Kanfade and Heber Martinez
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Project Goals Build a 3D printed prosthetic finger
I. Open source prosthetic design II. Create static model III. Simulate finger motion using inverse
kinematics
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Design and 3D printing• Finger measurements - input for the
OpenSCAD • Rendering to create that particular part • Export individual file as STL • Import STL files into Ultimaker 2+ • Change 3D printer settings based on the part
and the type of material in Cura Software • Transfer files from Cura software to Ultimaker
2+ printer with SD card • Print layer-by-layer
Actual 3D printed parts
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Socket scallop depth Socket depth top Socket depth bottom
Middle section length Tip length Linkage length
Socket width top
Socket width bottom
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Material used
• PLA – Polylactide , for hard items (2 knuckles, middle section and linkage)
• TPU – Thermoplastic polyurethane, for flexible items (socket, tip cover, hinge plugs)
• Aluminum wire – for metal knuckle pins
• Elastic cord – for connecting the two knuckles
• Strong braided fishing line – to built tension for actuating the movements
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3D printer used – Ultimaker 2+
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Tip cover Middle segment Middle bumper Knuckle plugs
Base knuckle Tip knuckle Finger socket Wrist linkage
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Final assembled finger
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a1
a2
a3
φ1
φ2
φ3x1
x2x3
Modified from C. Berceanu et al.
Metarcarpophalangeal
Proximal Interphalangeal
Distal Interphalangeal
Proposed Static Model
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Left Hand Finger
Right Hand Prosthetic Finger
cm
Δx = 1.4 cm
MATLAB Static Model
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Blue – Left-Hand Finger Red – Right-Hand Prosthetic Finger
(b) (a)
Left-hand finger workspace
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Constraints: θ1 = 0 to π/2 θ2 = 0 to π/2 θ3 = 0 to π/4
Original Design for Left Finger
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Constraints: θ1 = 0 to π/2 θ2 = 0 to π/2 θ3 = 0 to π/4
Original Design for Prosthetic Finger
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Constraints: θ1 = 0 to π/2 θ2 = 0 to π/2 θ3 = 0 to π/4 Ltot = 10.3 cm (3 links) a1 = 6.4 cm
New Design for Prosthetic Finger
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Future Worki. Automatically optimize length of
middle and top section
ii. Re-design of prosthetic finger using SolidWorks
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References
• Knick’s Prosthetic Finger Design (Nicholas Brookins): https://www.thingiverse.com/thing:1340624
• Knick's 3d printed prosthetic finger v3.5: https://www.youtube.com/watch?v=G6F8aj2A8MY
• openSCAD (free-source): http://www.openscad.org/ • Guo J., Jiagnan N., “Analysis and Simulation on the Kinematics of Robot
Dexterous Hand”, 2nd International Conference on Electronics, Network and Computer Engineering (ICENCE), August 13-14, 2016. Yinchuan, China.
• Ficuciello, F., “Modelling and Control for Soft Finger Manipulation and Human-Robot Interaction”. Defense Thesis. Universita degli Studi di Napoli Federico II. November, 2010. Napoli, Italy
• Berceanu C., Tarnita D., Dumitru S., and Filip, D., “Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger,” New Trends in Mechanism Design: Analysis and Design. Mechanism and Machine Science, Vol. 5, Springer, 2010.
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References
• Rahim Mutlu, Gursel Alici, Marc in het Panhuis, and Geoff Spinks, “Effect of Flexure Hinge Type on A 3D Printed Fully Compliant Prosthetic Finger”, 2015.
• E. Sachs, M. Cima, and J. Cornie, "Three-Dimensional Printing: Rapid Tooling and Prototypes Directly from a CAD Model," CIRP Annals - Manufacturing Technology, vol. 39, pp. 201-204, 1990
• Rahim Mutlu, Gursel Alici, Marc in het Panhuis, and Geoff Spinks,2015, “ Effect of Flexure Hinge Type on A 3D Printed Fully Compliant Prosthetic Finger,” IEEE International Conference on Advanced Intelligent Mechatronics (AIM), July 7-11, 2015. Busan, Korea
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