Análisis y simulación por computador de una mano robótica de cinco dedos.

Abstract

The loss by amputation of a limb of a person produces profound psychological and labor affectations in those who suffer them. Thus arises the need to mitigate the adverse effects of such losses, one of whose solutions lies in the manufacture of robotic prosthesis, such as five-fingered hand motif of this work. As a first step towards this, the direct kinematics of the prosthesis, which starts with a geometric design that allows it to determine the dimensions, angular displacements feasible and degrees of freedom and mobility restrictions of the prosthesis is determined. Subsequently the Denavit-Hartenberg parametrization of each finger is made to determine the position reached by its end for different angular displacements of the joints. Then the concept of coordinate transformation by matrix multiplication is applied to find the equations of the rectangular coordinates of the position as a function of the angular displacement of each joint. Then the validity of the proposed model is verified by comparing coordinates obtained and calculated. Finally a simulation in Matlab of movement of each finger assembled in a single programming code is realized using the “robot” Matlab tool.