Publication: Diseño de una mano robótica para uso docente
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Publication date
2014-10
Defense date
2014-10-09
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Tutors
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Abstract
El trabajo que se desarrolla a continuación es para uso docente, en el cual se presenta el
diseño y la construcción de una mano robótica sencilla de tres dedos antropomórficos.
El objetivo del presente trabajo es el de obtener un primer prototipo de este manipulador
robótico sencillo y de bajo coste para que los alumnos aprendan a programar dicho
dispositivo de una forma sencilla mediante Simulink.
Otro de los propósitos es enseñar al alumno que mediante sencillos métodos de
fabricación se pueden diseñar dispositivos funcionales, capaces de emular alguno de los
movimientos de la mano humana, sin necesidad de utilizar tecnologías complejas.
La mano robótica que se ha construido consta de tres dedos antropomórficos, cada uno
de los cuales está constituido de tres falanges, cuyos movimientos están acoplados
mediante un sistema mecánico rígido de transmisión. El movimiento de cada uno de los
dedos se controla a través de dos tendones en configuración agonista-antagonista
conectados a un servomotor.
Los dedos del manipulador robótico están pensados y diseñados con medidas reales y
formas similares a los de la mano humana, para así conseguir movimientos verosímiles
a los de una mano real.
El diseño, tanto de los dedos como de la palma de la mano y del resto de componentes
mecánicos que conforman el diseño final se ha realizado mediante el software
Solidworks.
La fabricación de cada parte del dedo, palma de la mano, soportes varios se han
realizado mediante la impresión 3D. El principal objetivo de utilizar este método de
fabricación ha sido disminuir los costes para el desarrollo del prototipo, ya que para su
uso docente se necesitan varias unidades.
Para concluir se puede decir que este diseño presenta una alternativa de bajo coste y
permite la actuación y control de una mano artificial con un número pequeño de grados
de libertad.
The work being done below is for teaching purposes, in which the design and construction of a simple three anthropomorphic robotic hand fingers is presented. The aim of this study is to obtain a first prototype of this robot manipulator (simple and low cost) for students to learn how to program the device in a simple way by Simulink. Another purpose is to teach them that by simple manufacturing methods, they can design functional devices, capable of emulating any of the movements of the human hand, without the use of complex technologies. The robot hand has been constructed with three anthropomorphic fingers; each one consists of three phalanges, whose movements are mechanically coupled by a rigid drive system. The movement of each finger is controlled by two tendons in agonistantagonist configuration connected to a servomotor. The fingers of the robotic manipulator are conceived and designed with real measures and similar to those of the human hand, so it could be possible to get real hand movements. The design of both, the fingers and the palm of the hand, and the other mechanical components that make up the final design was performed using the Solidworks software. The manufacture of each of the finger, palm, and various supports was performed using 3D printing. The main objective of using this method of manufacture has been to reduce prototype’s costs. In conclusion it can be said that this design is a low cost alternative and allows actuation and control in an artificial hand with a small number of degrees of freedom.
The work being done below is for teaching purposes, in which the design and construction of a simple three anthropomorphic robotic hand fingers is presented. The aim of this study is to obtain a first prototype of this robot manipulator (simple and low cost) for students to learn how to program the device in a simple way by Simulink. Another purpose is to teach them that by simple manufacturing methods, they can design functional devices, capable of emulating any of the movements of the human hand, without the use of complex technologies. The robot hand has been constructed with three anthropomorphic fingers; each one consists of three phalanges, whose movements are mechanically coupled by a rigid drive system. The movement of each finger is controlled by two tendons in agonistantagonist configuration connected to a servomotor. The fingers of the robotic manipulator are conceived and designed with real measures and similar to those of the human hand, so it could be possible to get real hand movements. The design of both, the fingers and the palm of the hand, and the other mechanical components that make up the final design was performed using the Solidworks software. The manufacture of each of the finger, palm, and various supports was performed using 3D printing. The main objective of using this method of manufacture has been to reduce prototype’s costs. In conclusion it can be said that this design is a low cost alternative and allows actuation and control in an artificial hand with a small number of degrees of freedom.
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Keywords
Robótica, Biomecánica, Mano artificial, Simulación