ANÁLISIS CINEMÁTICO E IMPLEMENTACIÓN DE UNA MANO ROBÓTICA SERVO-ARTICULADA APLICABLE COMO PRÓTESIS

Abstract

The scientists and researchers need to develop substitutes that supplies a partial functionality of a missing limb has been a source of coarse designs are examples of the evolution that has taken as the subject. This thesis work presents the beginning, evolution and current status of prosthetic and robotic devices for upper extremity, apart from showing a collection of the most important, from a hand iron to reach considerable limitations of robotic systems art, emphasizing the value of engineering to find solutions to the problems of man. Also addressed the biomechanical and pathological anatomical description of the hand, elements relevant to understanding and understanding of the prehensile functions for multiple activities in which highlights the enormous complexity that has the musculoskeletal structure of the hand and the configuration of each of the fingers to grip objects of different geometries and sizes. Similarly, we used a methodology for the implementation of an articulated robot hand, where it was necessary to consider a creative design process that incorporates several tools for clarifying objectives, establishing functions, requirements specification, determination of characteristics generation of alternatives and selection of a general scheme, which yielded a conceptual design that is thought to be ideal for an optimal system. Subsequently developed a processing images obtained from a CT in order to get the right dimensions to raise the initial parameters of the kinematic analysis. Then we obtained the direct and inverse kinematics of the system using the Denavit-Hartenberg parameters that resulted in the representation of a homogeneous transformation matrix, expressing the orientation and position of the end of the links based on joint coordinates, which gave direct kinematic solution to the problem. The inverse kinematic problem was solved for the values they can take the joint coordinates so that its end is oriented and positioned according to a given location. It also proposed a mechanism of transmission bar was simplified to get 2 links with different fixed points, which were analyzed individually. In this sense, a vector diagram is usually decomposed into two independent mechanisms, ie, we analyzed each of the internal links of the finger. This was solved by using the Chebychev spacing, which is to select a set of precision points for use in the kinematic synthesis, so as to minimize the structural error. To this end, synthesized four-bar linkage to generate the function y = f (x), where x represents the movement of the input crank and the linkage was designed so that movement of the oscillator output is an approximation of y. With this spacing proposed, identified 21 points of precisely what led to find a link that will meet the desired ratio for the synthesis, and subsequently underwent a second approach using the method described by Freudenstein string functions to open and close respectively . To solve the set of equations used the numerical method of Newton-Raphson developed in Matlab ®. The image processing and synthesis mechanism were pillars to generate detailed threedimensional model using SolidWorks ® software program, which later was the interface for a three dimensional impression of the prototype. Also, is detailed description of the generation of robotic hand model and its three-dimensional printing at actual size, part of the study was a preamble to raise tests for number of movements and holding objects. Also, describes the analysis of results from the methodology proposed design and synthesis of mechanism and prototype implementation. It also makes a profound emphasis on the diversity of movements that can run the device coupled with the subjection of palm-shaped objects, spot, lateral, cylindrical and spherical. Finally, conclusions are presented concerning the development of this thesis with recommendations and proposals for future work subsequent to this research.