| dc.description.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. | |
