UNIVERSITI TEKNIKAL MALAYSIA MELAKA
MECHANISM DEVELOPMENT OF THREE LINK
MANIPULATOR APPLIED AS PROSTHETIC FOOT
This report submitted in accordance with the requirements of the Universiti Teknikal Malaysia Melaka (UTeM) for the Bachelor Degree of Manufacturing Engineering
(Robotic and Automation) with Honours.
By
MUHAMAD RIZAL BIN NARI
UNIVERSITI TEKNIKAL MALAYSIA MELAKA (UTeM)
BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA
TAJUK: Mechanism Development of Three Link Manipulator Applied as Prosthetic Foot
SESI PENGAJIAN: 2009/2010 Semester 2
Saya MUHAMAD RIZAL BIN NARI
mengaku membenarkan Laporan PSM ini disimpan di Perpustakaan Universiti Teknikal Malaysia Melaka (UTeM) dengan syarat-syarat kegunaan seperti berikut:
1. Laporan PSM adalah hak milik Universiti Teknikal Malaysia Melaka dan Penulis.
2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan
untuk tujuan pengajian sahaja dengan izin penulis.
3. Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan
pertukaran antara institusi pengajian tinggi. atau kepentingan Malaysia yang termaktub di dalam AKTA RAHSIA RASMI 1972)
(Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan)
(TANDATANGAN PENULIS)
DECLARATION
I hereby, declared this report entitled “Mechanism Development of Three Tink Manipulator Applied as Prosthetic Foot” is the results of my own research except as cited in the references.
Signature : ………
Author’s Name : ………
APPROVAL
This report submitted to the Faculty of Manufacturing Engineering of Universiti Teknikal Malaysia Melaka as a partial fulfillment of the requirements for the degree of Bachelor of Manufacturing Engineering (Robotics and Automation) with Honours. The member of the supervisory committee is as follow:
………. Project Supervisor
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ABSTRACT
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ABSTRAK
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DEDICATION
Specially dedicated to my beloved mother, family, and friends who provide a loving,
caring, encouraging and supportive atmosphere. These are characteristic that
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ACKNOWLEDGEMENTS
A work of this kind, drawing on our combined experiences over many years in the manufacturing industry, owes a debt of gratitude to all people we have worked with. The impossibility of acknowledging everyone in person does not mean that we fail to value every contribution, suggestion or conversation that has helped us to refine these ideas.
This project would not have been possible without the help of so many people. I would like to take this opportunity to thank them for their effort in completing the PROJEK SARJANA MUDA (PSM). Firstly to my God, Allah s.w.t who never fails me. My deepest appreciation goes to my supervisor, En. Ahmad Yusairi bin Bani Hashim for his extra ordinary level of support and patience. I always remember those countless hours he spent time for this project. His expertise and advice have been a great motivation for me and have a key role in making this unique and rewarding Degree Project. And my special thanks go to my family, En.Nari and Pn. Khadijah, my beloved friend that I cannot mention here because there are too many of them who always provide moral support and encouragement throughout this project. I’m always able to count on their support and advice. Without all of them that I had mentioned above, I would not be able to undergo my PSM successfully.
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2.3 Existing Prosthetic foot 9
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3.6.1.1 Solid Work Software 30
3.62 Material Selection 31
3.7 Fabrication and Assembly Pocess 31
3.8 testing and Analyzing 31
4.0 DESIGN AND DEVELOPMENT 34
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5.3.1 Discussion about analysis 50
5.3.2 Design 50
6.2.1 Conceptual design 55
6.2.2 Material selection5 5
6.2.3 Development method 55
viii APPENDIXES
A Gantt chart
B Technical drawing C Solid modeling
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LIST OF TABLES
Table 3.1: Gantt Chart PSM 1 32
Table 3.2: Gantt Chart PSM 2 33
Table 4.1: Measurement at normal human foot point 36
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Figure 2.10: Force plate record of the ground reaction acting on the foot 21 Figure 2.11: Barograph record at the distribution of pressure at two
phase of the step 21
Figure 2.12: Load distribution on the human foot on step. 22
Figure 3.1: Flow chart project flow planning 25
Figure 4.1: Normal human foot point measurement 35
Figure 4.2: Normal human foot and skeleton structure 38 Figure 4.3: Normal human foot and skeleton foot structure graph 39
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LIST OF ABBREVIATIONS, SYMBOLS, SPECIALIZED
NOMENCLATURE
POM - Polyxymenthelenes
ISO - International Standard Organization LP - low Profile
HC - Heel Contact HO - Heel Off TO - Toe Off
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CHAPTER 1
INTRODUCTION
1.1 Project Background
This project is developing to design the structure of prosthetic foot and the aim of developing this product is to assist the group of people who have physical disabilities to gain normal life again. Nowadays, the improvement made to make sure the prosthetic foot to be properly functional and comfortable to user takes lot of time. As known, the soldier in the military sector is facing a very high risk in losing their limbs during combat. The highest risk is losing their foot. The research of the prosthetic foot was founded sinceWorld War 1 until World War 2 (Erin Strait, E 2006).
During that time, the equipment, material and the research of the prosthetic foot cannot be done as nowadays because the technology have not been achieve yet and because of that, the United States government made a deal with some military companies to improve prosthetic body parts rather than weapons. In addition, the government standardized prosthetic training, instead of the previous apprenticeships, as well as increasing funding for engineering research in universities.
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could cause the convict to lose their limbs and because of that, the need of prosthetic foot is becoming more important to a society. The research of this prosthetic foot is focusing in improving the function of the prosthetic limbs to be more efficient and this project is to design and develop a compounded three-link manipulator applied as prosthetic foot. It focuses on the mechanism design and the expectation on precise mechanical on all parts when the mechanism high (M., Renfrow, 2005).
1.2 Objective
This project is carried out with the following objectives.
a) To design the structure for the prosthetic foot that will be assembled at the actual foot frame.
b) To make mechanism development of a compounded three link manipulator applied as prosthetic foot.
1.3 Project aims
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1.4 Scopes
The scopes for this project are as below:
a) This project will focus on the mechanism development of a compounded three-link manipulator with precise mechanical machining.
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1.5 Problem statement
Nowadays, the existing prosthetic foot is expensive and not comfortable with the average class users. It is because the cost of developing material is so expensive. In addition, the function of existing prosthetic foot does not function properly and just refers the basic concept of important point of human foot. Because of that, the users do not feel comfortable when using them. The suitable design and material must be eminent and considered when developing the high quality prosthetic foot.
As known, users always choose to posses the best product at the lowest price for their prosthetic limbs. Originally prosthetic were simply replacement for missing limbs, but now they can help people who have extremely active lifestyles. Such improvements have been made possible because of the new surgical techniques, the advancement of components for making prosthetics, and creative engineering ideas. Many researches about the material and concept must be considered to get the high quality design. The cost factor is one of important thing that must be considered to make the new prosthetic foot suitable with all class because not all of the users who lost their limbs are from rich background.
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CHAPTER 2
LITERATURE REVIEW
2.1 Introduction
Literature review is showing the research that related to the project topic. The meaning of literature review is a critical look of existing research that significant to the work that we are carrying out. Literature review is important because it show the target of the project.
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2.2 History of prosthetic foot
The history of prosthetics and amputation surgery began at the very dawning of human medical thought. Its historical twists and turns paralleled the development of medical science, culture, and civilization itself. Prostheses were developed for function, cosmetic appearance, and to provide a psychological sense of wholeness. These patients needs have existed from the dawn of time to the present. The earliest evidence of humankind's recognition of deformity and concern for rehabilitation is difficult to determine. Many ancient civilizations had no written records and history was recorded orally in poems, sagas, and songs. The prosthesis of ancient cultures began as simple crutches or wooden and leather cups as depicted in some of the earliest recovered pottery. This grew into a type of modified crutch or peg to free the hands for functioning. An open socket peg leg had cloth rags to soften the distal tibia and fibula and allow a wide range of motion (Erin Strait. E, 2006).
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The industrial revolution brought about prosthetic advancement fueled by money available to amputees following the American Civil War. After WWII, many soldiers returned with missing limbs and people became more aware of the problems these soldiers faced while trying to return to a normal lifestyle. With an escalated number of amputees and increased awareness, this forced the development of functional prosthetics for the masses. These functional prostheses were still by no means comfortable to wear, but the user was much more mobile and independent with the use of such a device. From heavy, immovable limbs to lighter, more functional limbs, prosthetics has come a long way. Today, modern materials such as plastics, carbon fiber, and strong but lightweight metals like titanium and aluminum, are water resistant and better able to withstand harsh environments. These materials are now widely used along with advanced designs, both of which allow the patient to expend less energy. Fundamental proven prosthetic principles are never outdated, only the methods to accomplish them are refined. Ideas are endlessly being recycled from the past. Concepts that may have been impractical at the time of their inception, become possible with developments in materials and technology (M.Renfrow, 2005).
Prosthetic devices have existed for centuries. Originally prosthetics were simply replacements for missing limbs, but now they help people have extremely active lives. Such improvements have been made possible because of new surgical techniques, the advancement of components for making prosthetics, and creative engineering ideas (4/08/2009, http://www.unc.edu).
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2.3 Existing prosthetic foot
