Desarrollo de un prototipo de sistema muscular artificial basado en robótica suave para movimiento de flexión y extensión de falanges que actúan en el agarre palmar

Abstract

The present thesis work focuses on the development of a prototype for an artificial muscle system based on soft robotics, designed to enable flexion and extension movements of the phalanges involved in palmar grip. The objective is to demonstrate the gripping functionality of a prosthetic system that has been scarcely explored and that integrates technologies such as 3D printing and low-cost materials. The prototype operates using positive pressure, which is applied to two artificial muscles. Due to their composition, these muscles expand in diameter and consequently contract, generating force. This force is harnessed to facilitate the flexion movement of the hand's phalanges. The prototype demonstrates that the pressure exerted during testing is directly proportional to the force produced by the artificial muscles and inversely proportional to their contraction. Additionally, the design successfully replicates the natural flexion and extension movements of the palmar phalanges, enabling the grip of specific objects detailed in this work. The integration of a solenoid valve and a control system allowed for voluntary opening and closing of the airflow, directing compressed air to the artificial muscles. Simulations were conducted to analyze the Von Mises stress and the material displacement of the 3D-printed components. The results were favorable, concluding that none of the forearm parts reached the yield limit, ensuring that the components are not at risk of deformation. Similarly, the displacement in the parts was minimal, reducing the risk of structural failure.