Innovative approaches to kinematic optimization and material design in robotic prosthetic arm

This thesis provides a thorough study of designing, modelling, and analyzing a 7-degree-of-freedom prosthetic arm. The research illustrates the use of suitable materials to enhance its mechanical efficiency. The research evaluates three distinct materials, that is, Alloy 6061 T6 made of Aluminum, (230 GPa) Epoxy Carbon UD (Uncured), and (65% long glass fibre) of Composite, epoxy, selected for their distinctive mechanical qualities and prospective applicability in prosthetics. The prosthetic arm's design was created with SolidWorks', and its structural performance was evaluated using ANSYS's Workbench under different loading situations. The research depends on tackling the important problem of balancing durability, weight, and strength in a 7-degree-of-freedom prosthetic arm modelling, a balance necessary for human convenience and efficiency. The key mechanical properties, including maximum von-mises stress, total deformation, strain energy equivalent elastic strain, and factor of safety of prosthetic arm, and comprehensive simulations evaluated each material. The findings indicated that although all three advanced materials display satisfactory performance, the Epoxy Carbon UD proved to be the optimal selection. This material displayed the optimal stiffness-to-weight ratio, which is also minimal deformation, and a greater safety factor, making it the most effective choice for the prosthetic arm. This study enhances prosthetic arm advancement by providing insights into choosing materials and optimizing designing. The research highlights the significance of employing sophisticated materials and modeling methodologies to develop prosthetic arm that perform structural requirements while improving the comprehensive experience for users. The thesis concludes with a recommendation for further research, encompassing the investigation of novel materials for composites, the incorporation of intelligent technologies, and the verification of the simulations outputs by physical form modelling