Diseño del mecanismo actuador de un dedo robot antropomórfico

Edgar Portilla Flores; Roberto Piña Quintero; Oscar Avilés Sánchez; Paola Niño Suárez; María Molina Vilchis

Diseño del mecanismo actuador de un dedo robot antropomórfico

Translated title of the contribution: Design of the drive mechanism for an anthropomorphic robotic finger

Edgar Portilla Flores, Roberto Piña Quintero, Oscar Avilés Sánchez, Paola Niño Suárez, María Molina Vilchis

Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an "anthropomorphic finger" is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.

Translated title of the contribution	Design of the drive mechanism for an anthropomorphic robotic finger
Original language	Spanish
Pages (from-to)	153-162
Number of pages	10
Journal	Revista Facultad de Ingenieria
Issue number	58
State	Published - Mar 2011

Cite this

@article{f0935d5952e54ec884d90be11fedf9af,

title = "Dise{\~n}o del mecanismo actuador de un dedo robot antropom{\'o}rfico",

abstract = "Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an {"}anthropomorphic finger{"} is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.",

keywords = "Four-bar mechanism, Freudenstein's equation, Robotics fingers",

author = "Flores, {Edgar Portilla} and Quintero, {Roberto Pi{\~n}a} and S{\'a}nchez, {Oscar Avil{\'e}s} and Su{\'a}rez, {Paola Ni{\~n}o} and Vilchis, {Mar{\'i}a Molina}",

year = "2011",

month = mar,

language = "Espa{\~n}ol",

pages = "153--162",

journal = "Revista Facultad de Ingenieria",

issn = "0120-6230",

number = "58",

}

TY - JOUR

T1 - Diseño del mecanismo actuador de un dedo robot antropomórfico

AU - Flores, Edgar Portilla

AU - Quintero, Roberto Piña

AU - Sánchez, Oscar Avilés

AU - Suárez, Paola Niño

AU - Vilchis, María Molina

PY - 2011/3

Y1 - 2011/3

N2 - Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an "anthropomorphic finger" is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.

AB - Mechanisms may be used in the design of robotic fingers, in order to obtain drive systems which can be used for gripping or manipulating objects. In this work, a design methodology for a drive mechanism of an "anthropomorphic finger" is presented. The finger was previously developed by computational tools (CAD) at the UMNG-Colombia. The proposed methodology takes into account the mathematical relationships between the mechanical elements of the drive mechanism to carry out a dimensional synthesis, taking into account that the mechanism must fulfill the anthropometric characteristics of a human hand based on ten numerical positions (which were obtained from a previous UMNG work). Numerical simulation results and CAD modeling for the drive mechanism are presented. Finally, a discussion about results is included.

KW - Four-bar mechanism

KW - Freudenstein's equation

KW - Robotics fingers

UR - http://www.scopus.com/inward/record.url?scp=79957609521&partnerID=8YFLogxK

M3 - Artículo

SN - 0120-6230

SP - 153

EP - 162

JO - Revista Facultad de Ingenieria

JF - Revista Facultad de Ingenieria

IS - 58

ER -

Diseño del mecanismo actuador de un dedo robot antropomórfico

Abstract

Other files and links

Fingerprint

Cite this