Diseño de un prototipo electromecánico para la emulación de los movimientos de un brazo humano

Abstract

This research aims to design and build a device that can emulate the movements of the human arm, to find a different alternative in the rehabilitation process, or for use in industries that require handling robotics. Steps taken in the first phase of investigation, the design and construction of the prototype of a robotic arm dexterous are presented: five fingers, hand, forearm, biceps and shoulder; thirteen degrees of freedom in total, also with the design of a structure for attaching the sensors to the operator arm. The process is divided into five parts: design construction of a test finger; study for the buy to motors; design shoulder and forearm; design hand and wrist; and finally the process of assembling the parts.