Prototipo de Mano Antropomorfa a Escala Basada en Anatomía Humana con Actuadores Lineales como Base para Movimiento

Abstract

This paper presents the investigation, development, design, assembly, functioning and results of the prototype of anthropomorphous hand, based on the human anatomy. This prototype presents a total of 20 degree of freedom, four for every finger. We have been in mind anatomical characteristics of the human hand not contemplated in previous developed prototypes, for which we have in mind the tendons and joints for the different movements, being the Hilo-cañamo of hemp those that execute the movement in the prototype, these are generated by means of servomotors and controlled directly from a computer with the help of an Arduino Mega. The pieces were designed in Autodesk Inventor and were printed on the FlashPrint printer. This process repeated it self for every piece and articulation of hand up to obtaining the wished result since this project was developed by means of test and mistake. All that arises from the need to develop a hand with a major Degrees of Flexibility, is to say that it could adapt to different situations. This prototype tries to be implemented to future so much as part of an anthropomorphous robot or improving the quality of persons life working as prothesis, due to this the design is focused in the quantity of movements to be able to realize a study of these and be able to realize an easy control.