Diseño y construcción de un prototipo de mano robótica con control de presión para el agarre de diferentes tipos de objetos

Abstract

The present degree work is focused on the design and construction of a prototype of a robotic hand mechanism with pressure control for grasping different objects. For the design stage, a physiological and anatomical study of the hand has begun, starting from its bone, muscle and joint system, helping to better understand the natural movements and functions of the hand, in addition to its importance in daily activities. for a normal person. With the help of Fusion 360 software, the design and construction of the prototype of each of the elements of the prototype are carried out, static studies are carried out which allow knowing the safety factor and displacement of the parts by applying the calculated forces and moments. For the correct grasping of the objects, a PID control is carried out, which allows feedback through the pressure sensors, giving the pressure that exists between each finger and the object. With these acquired data, the PWM signal is sent to the servomotors for the grip of the hand.