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  • 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

    FACULTY OF MANUFACTURING ENGINEERING

    2010

  • 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.

    4. **Sila tandakan ()

    SULIT

    TERHAD

    TIDAK TERHAD

    (Mengandungi maklumat yang berdarjah keselamatan 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)

    Alamat Tetap: 03G, LINTANG 3, KG SEPARAP,

    MUKIM 4, 83000, BATU PAHAT,

    JOHOR DARUL TAKDZIM.

    Tarikh:_________________________

    Disahkan oleh:

    (TANDATANGAN PENYELIA)

    Cop Rasmi:

    Tarikh:_________________________

    ** Jika laporan PSM ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali sebab dan tempoh laporan PSM ini perlu dikelaskan sebagai

    SULIT atau TERHAD.

  • 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 :

    Authors Name :

    Date :

  • 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

    (Official Stamp & Date)

  • i

    ABSTRACT

    The title of the project is Mechanism Development of a Compounded Three Link

    Manipulator applied as Prosthetic Foot". This aim of the developing this project is to

    help the people who are losing limbs from war or having health problems. Architecture

    and the accurateness in a machining process are very important in order to enactive the

    product are function in a proper ways. In this project, flow chart is used to show the

    development from the beginning until the end of the project. The equipment was used to

    develop this project is Solid Work software. It is used to design the architecture of the

    product in detail from the smallest part until the architecture of the structure is complete.

    This machine was used to develop this project are lathe machine and drilling machine.

  • ii

    ABSTRAK

    Projek sarjana muda merupakan subjek wajib yang perlu diambil oleh semua pelajar

    tahun akhir ijazah Kejuruteraan Pembuatan.di Universiti Teknikal Malaysia Melaka.

    Projek ini mendedahkan pelajar dengan pengetahuan dan pengalaman dalam membuat

    satu pembangunan projek berkenaan proses pembuatan sebelum melangkah ke alam

    pekerjaan. Tajuk projek ini adalah "Pembangunan Pergerakan Gabungan Tiga

    Manipulasi Rangkaian yang Diapplikasikan dalam kaki Palsu. Projek ini dibangunkan

    bertujuan untuk membantu golongan yang mengalami cacat anggota kaki berpunca dari

    peperangan ataupun penyakit. Rekebentuk dan ketepatan dalam proses pemesinan

    dititikberatkan dalam projek ini bagi memastikan produk yang dihasilkan boleh

    berfungsi dengan baik. Di dalam projek ini, carta alir digunakan untuk menunjukkan

    pembangunan projek dari peringkat awal hingga akhir. Antara peralatan yang digunakan

    bagi pembangunan projek ini adalah seperti perisian"solid work". Ianya digunakan untuk

    membuat lukisan terperinci rekabentuk produk dari bahagian-bahagian yang kecil

    hingga menjadi struktur rekabentuk yang dikehendaki. Antara mesin yang digunakan

    untuk pembangunan projek ini adalah mesin larik dan mesin gerudi.

  • iii

    DEDICATION

    Specially dedicated to my beloved mother, family, and friends who provide a loving,

    caring, encouraging and supportive atmosphere. These are characteristic that

    contribute to the environment that is always needed to achieve the goals ahead.

  • iv

    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. Im 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.

    Last but not least, I would like to thanks those who are not mentioned here but

    have directly or indirectly helping and guiding me towards completing my PSM, your

    help and time are much appreciated. All the experiences and knowledge that I have

    gained from all are very valuable and thankful. Thank you for giving me better

    perspective.

  • v

    TABLE OF CONTENT

    Abstract i

    Abstrak ii

    Dedication iii

    Acknowledgment iv

    Table of contents v

    List of Tables ix

    List of Figures x

    List of Abbreviation xi

    1. INTRODUCTION 1

    1.1 Project background 1

    1.2 Objective 2

    1.3 Project aims 2

    1.4 Scope 3

    1.5 Problem statement 4

    2. LITERATURE REVIEWS 5

    2.1 Introduction 5

    2.2 History of Prosthetic foot 6

    2.3 Existing Prosthetic foot 9

    2.3.1 Niagara Foot 10

    2.3.2 Power foot one 11

    2.3.3 Low Profile LP Vary flex 12

    2.3.4 Seattle Voyager Foot 13

    2.3.5 Tensegrity Foot 14

    2.4 Normal Human Foot Analysis 15

    2.4.1 Research about normal walking gait 17

  • vi

    2.4.2 Result 18

    3.0 METHODOLOGY 23

    3.1 Introduction 23

    3.2 Project Flow Planning

    3.3 Project Selection 24

    3.4 Literature Review 27

    3.5 Data Collection 27

    3.5.1 Data Collection 28

    3.5.2 Internet 28

    3.5.3 Journal Artical 29

    3.6 Methodology 29

    3.6.1 conceptual design 29

    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

    4.1 Introduction 34

    4.2 Mechanical Design 35

    4.2.1 Conceptual design 40

    4.2.2 Technical drawing 40

    4.3 Development process 45

    4.3.1 Base structure development 46

    4.3.2 Ankle structure 47

  • vii

    4.3.3 Shaft 46

    4.3.4 Assembly process 47

    4.4 Machining process 48

    5.0 RESULT AND DISCUSSION 49

    5.1 Introductions 49

    5.2 Result 49

    5.3 Discussion 50

    5.3.1 Discussion about analysis 50

    5.3.2 Design 50

    5.3.3 Mechanical structure 51

    5.3.4 Machining process 52

    6.0 CONCLUSION 54

    6.1 conclusions 54

    6.2 recommendations 54

    6.2.1 Conceptual design 55

    6.2.2 Material selection5 5

    6.2.3 Development method 55

    REFERENCES 55

  • viii

    APPENDIXES

    A Gantt chart

    B Technical drawing

    C Solid modeling

    D Product picture

  • ix

    LI

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