Thesis DESARROLLO DE MANO MECÁNICA PARA EMULACIÓN Y DETERMINACIÓN DE MOVIMIENTOS
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Date
2017
Authors
SALAS GORDONIZ, JORGE ESTEBAN
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Abstract
Buscando desarrollar un sistema con una destreza similar al de la mano humana; se construyó un prototipo que emula sus movimientos. El prototipo, fabricado principalmente mediante impresión 3D, utiliza 47 servomotores que actúan de forma antagónica, tensando un conjunto de tendones, lo que permite una mano mecánica con 24 grados de libertad; con los movimientos de flexión, extensión, abducción y aducción; tanto en la muñeca como en los cinco dedos (con sus respectivas falanges), además de la oposición del pulgar, y meñique. Aunque la mano carece de un sistema de control coordinado; puede mover individualmente cada una de sus partes, permitiendo modificar su postura.
In the searching to develop a system with a similar dexterity as the human hand, a prototype which emulates its movements, has been built. The prototype, made using a 3D printing process, works with 47 servos, which tense a set of tendons, resulting in a mechanical hand with 24 degrees of freedom; with the movements of flexion, extension, abduction and adduction; included in the wrist and the five fingers (with their phalanges), as well as the opposition of the thumb, and pinky. Although the hand lacks a coordinated control system; can move, individually, each of its parts, being able to modify its position.
In the searching to develop a system with a similar dexterity as the human hand, a prototype which emulates its movements, has been built. The prototype, made using a 3D printing process, works with 47 servos, which tense a set of tendons, resulting in a mechanical hand with 24 degrees of freedom; with the movements of flexion, extension, abduction and adduction; included in the wrist and the five fingers (with their phalanges), as well as the opposition of the thumb, and pinky. Although the hand lacks a coordinated control system; can move, individually, each of its parts, being able to modify its position.
Description
Catalogado desde la version PDF de la tesis.
Keywords
EMULACION DE MOVIMIENTOS , MANO ANTROPOMORFICA , MANO MECANICA , PROTOTIPO