Stress Analysis on Mechanical Hand Prototype with Kinematics Model Approach and Performance Tests

Mechanical hands that resemble a human's hands are used to replaces tasks and improve safety. The three stages of the mechanical hands manufacture include designing using a computer application (CAD), then analysis of stress distribution using finite element application, and finally, processing the prototype production using conventional machines. The mechanical hands are designed using a kinematics model approach, and then it is simulated using 1000 N of load to obtain the stress and strain in each section. The simulated test results showed that the mechanical hands can move with 11 Degree of Freedom (DoF), and able to receive a 1000 N load. Thus, it can be concluded that this mechanical hand prototype can be used to hold, grasp and squeeze a few basic shapes, such as spheres, beams, and pipes with a diameter of at least 0.03 m and a maximum of 0.07 m.