Electromechanical design of a prototype for emulation movements of a human arm
DOI:
https://doi.org/10.17981/ingecuc.12.2.2016.02Keywords:
Emulation, Robots, Prototypes, Devices, Electronic machines, Engines, Human arm, IndustryAbstract
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.Downloads
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References
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[2] Waseda University, WasedaUniversity Humanoid. [Online]. Available: http://www.humanoid.waseda.ac.jp/history.html.
[3] J. M. Dorador González, Robótica y prótesis inteligentes, Revista Digital Universitaria, vol. 6, no.1, pp. 2-15, 2004.
[4] C. Natale Ciro, F. Castaldo, A. Cirillo, P. Cirillo, U. Ferrara, L. Palmieri. Real Time Control of an Anthropomorphic Robotic Armusing FPGA. Altera Innovateltaly Desing Constest 2011. SUN Ingegneria. Napoles, Italia. Dipartimento di ingegneriadell’ informazione, 2011
[5] A. M. Zaid, A. Yaqub, M. R. Arshad, and S. Wahab, UTHM Hand: Mechanics Behind The Dexterous Anthropomorpohic Hand. World Academy of Science, Engineering and Technlogy [online], vol. 5, no. 2, pp. 331-335, 2011. Available: http://waset.org/publications/9570/uthm-hand-mechanics-behind-the-dexterous-anthropomorphic-hand.
[6] L. Xiao, B. Wang, G. Yang, and M. Gauthier, “Poly(Lactic Acid)-Based Biomaterials: Synthesis, Modification and Applications,” in Biomedical Science, Engineering and Technology, InTech, 2012.
[7] A. A. Relaño Pastor, “Estudio comparativo de piezas ABS y PLA procesadas mediante modelado por deposición fundida”, Proyecto Fin de Carrera. Departamento de Ciencia e Ingeniería de los materiales e Ingeniería Química, Universidad Carlos II de Madrid, Madrid, España, 2013.
[8] S. González Mejía and A. Ortiz Rosas, “Desarrollo de un brazo robótico móvil para la tele operación desde un pc bajo el estándar IEEE 802.11b,” Ingenium, vol. 4, no. 8, p. 5, Feb. 2009. http://dx.doi.org/10.21774/ing.v4i8.128
[9] D. Rivas, F. Manjarres, J. Mena, J. L. Carrillo-Medina, V. Bautista, M. Erazo, M. Perez, O. Galarza, and M. Huerta, “Inverse engineering design and construction of an ABS plastic, six DOF robotic arm structure,” in 2015 6th International Conference on Automation, Robotics and Applications (ICARA), 2015, pp. 352–357. http://dx.doi.org/10.1109/icara.2015.7081173
[10] J. Vachalek, L. Capucha, P. Krasnansky, and F. Toth, “Collision-free manipulation of a robotic arm using the MS Windows Kinect 3D optical system,” in 2015 20th International Conference on Process Control (PC), 2015, pp. 96–106. http://dx.doi.org/10.1109/pc.2015.7169945
[11] H.-J. Kim, Y. Tanaka, A. Kawamura, S. Kawamura, and Y. Nishioka, “Improvement of position accuracy for inflatable robotic arm using visual feedback control method,” in 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015, pp. 767–772. http://dx.doi.org/10.1109/AIM.2015.7222630
[12] P. A. Rey Molina and K. Urrego, “Diseño e implementación de un prototipo de brazo robótico en 3D para la manipulación de cajas en una matriz de almacenamiento,” Redes Ing., vol. 3, no. 2, pp. 32–40, 2012.
[13] J. G. Hoyos Gutiérrez, J. E. Cardona, L. M. Capacho, F. Prieto y M. Cisneros Pérez, Position based visual servoing of a robotic arm rv2aj implemented in matlab and java. Colombian Journal of Advanced Technologies, vol. 2 no. 18, pp. 18-22, 2011.
[14] Moinul Bhuiyan and Muhammad Muaz Bin Hanafi. 2 Two Degree of Freedom Plotter using Robotic Arm. Julio de 2015.
[15] M. Molina Cárdenas, P. Pedroza Barrios, K. M. Gaitán Moreno, J. F. Salgado Arismendy, and M. C. Ordoñez, “Diseño y Construcción del Prototipo de un Brazo Robótico con Tres Grados de Libertad, como Objeto de Estudio,” Ingeniare, no.18, pp.. 87-94, 2015.
[16] Y. Huang, J. Li, Q. Huang, and P. Souères, “Anthropomorphic robotic arm with integrated elastic joints for TCM remedial massage,” Robotica, vol. 33, no. 2, pp. 348–365, Feb. 2015. http://dx.doi.org/10.1017/S0263574714000228
[17] B. Fang, D. Guo, F. Sun, H. Liu, and Y. Wu, “A robotic hand-arm teleoperation system using human arm/ hand with a novel data glove,” in 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015, pp. 2483–2488. http://dx.doi.org/10.1109/ROBIO.2015.7419712
[18] H. Jiang, J. P. Wachs, M. Pendergast, and B. S. Duerstock, “3D joystick for robotic arm control by individuals with high level spinal cord injuries.,” IEEE Int. Conf. Rehabil. Robot., vol. 2013, p. 6650432, Jun. 2013.
[19] A. Ganiev, H.-S. Shin, and K.-H. Lee, “Study on Virtual Control of a Robotic Arm via a Myo Armband for the SelfManipulation of a Hand Amputee,” Int. J. Appl. Eng. Res., vol. 11, no. 2, pp. 775–782, 2016.
[20] M. A. Pérez Romero, A. T. Velázquez Sánchez, C. R. Torres San Miguel, L. M. Sáez, P. F. Huertas González, and G. M. Urriolagoitia Calderón, “Prototipo de mano robótica
antropométrica sub-actuada,” Rev. Fac. Ing. no. 65, pp. 46–59, 2012.
[21] Gael Langevin. Inmoov. Open sourse [online]. <http://www.inmoov.fr
[22] C. A. Quinayás Burgos, M. Muñoz Añasco, Ó. A. Vivas Albán, and C. A. Gaviria-López, “Diseño y construcción de la prótesis robótica de mano UC-1,” Ing. y Univ., vol. 14, no. 2, p. 223, 2011.
[23] R. L. Norton, “Engranes Helicoidales, Cónicos y de Tornillo Sin Fin”, en Diseño de Maquinas, 4ª ed. Prentice Hall, 2011, pp. 630-635.
[24] J. F. Arroyave, C. A. Romero y C. A. Montilla, Ingeniería inversa de un reductor de tornillo sinfín - corona. Scientia et Technica [online], vol. 17, n° 52, pp. 204-210 Avaliable: dialnet.unirioja.es/descarga/articulo/4271876.pdf
[25] Bach, “La porporción áurea”, Dibujo Técnico, pp. 1-15, 2010. Avaliable: https://plasticavegadeo.files.wordpress.com/2010/08/15-la-proporcion-aurea.pdf
[26] J. E. Shigley and L. D. Mitchell, “Engranes Rectos”, Diseño de Ingenieria Mecanica, 3ª Ed. McGraw-Hill, 2010, pp. 602-668.
[27] J. E. Shigley and L. D. Mitchell, “Engranes Rectos”, Diseño de Ingenieria Mecanica, 2010, 3ª ed. McGraw-Hill, pp. 602-668.
[28] R. L. Norton, “Engranes Rectos”, en Diseño de Maquinas, 4ª ed. Prentice-Hall, 2011, pp. 543-596.
[29] HobbyKing’s. Datasheet, [Online] http://www.hobbyking.com/hobbyking/store/__17540__HK_5320_Ultra_Micro_Digital_Servo_1_7g_0_05sec_0_075kg.html
[30] E. L. Juan García. Cirugía ortopédica y traumatología. Biomecanica de los dedos de la mano. Avaliable: http://documents.mx/documents/biomecanica-de-los-dedos-dela-mano.html
[31] R. MCRae, Ortopedia y Fracturas. Madrid: Marban, 2006.
[32] Electronicos Caldas. Hoja de datos. http://www.electronicoscaldas.com/datasheet/MG995_Tower-Pro.pdf
[33] R. MCRae, Ortopedia y Fracturas. Madrid: Marban, 2006.
[34] Pololu Corporation. Robotics and electronics. Available: https://www.pololu.com/product/1057
Additional Files
Published
2016-08-29
How to Cite
Gallo Sánchez, L. F., Guerrero Ramírez, M. A., Vásquez Salcedo, J. D., & Alonso Castro, M. Ángel. (2016). Electromechanical design of a prototype for emulation movements of a human arm. INGE CUC, 12(2), 17–25. https://doi.org/10.17981/ingecuc.12.2.2016.02
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