Desarrollo de una propuesta para la emulación de los movimientos de muñeca de un brazo protésico basado en un mecanismo con tres grados de libertad.

Abstract

In this degree work, a proposal has been developed for the emulation of wrist movements for a prosthetic arm, based on a mechanism with three degrees of freedom. This project is framed in the need to improve the functionality and precision of wrist prostheses, providing greater mobility and natural movements for users. Several types of actuators and mechanisms used in wrist prostheses were investigated, including serial and parallel mechanisms. It was determined that parallel mechanisms with three degrees of freedom offer greater accuracy and stiffness, as well as better load capacity compared to serial mechanisms. In this project, we worked with an Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshing, known as ABENICS. The project’s development included the design and implementation of a printed circuit board (PCB) and the programming of an ESP32 to control the movements of the mechanism. A web page was also developed for the management and control of the end effector, allowing real-time interaction and configuration of the necessary parameters for the system’s operation. Finally, it is worth noting that there were issues with the mechanical parts, which limited the development of certain aspects of this project.