Price Torrendell, Santiago (2021) Desarrollo de sistemas bioinspirados actuados por materiales con memoria de forma / Development of bioinspired systems actuated by shape memory materials. Maestría en Ingeniería, Universidad Nacional de Cuyo, Instituto Balseiro.
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| PDF (Tesis) Español 39Mb |
Resumen en español
En este manuscrito se presenta el proceso de desarrollo de uno de los dedos que formara parte de una prótesis de mano. A partir del diseño inicial concebido en una etapa anterior (Proyecto Integrador de Ingeniera Mecánica), se propusieron una serie de mejoras en el mecanismo de actuación, lo que permitió la construcción de prototipos con desempeños superadores a los desarrollos previos. Este sistema posee una transmisión subactuada, lo que permite controlar la posición del dedo mediante un conjunto mínimo de actuadores. Con un prototipo funcional construido, se prosiguió a desarrollar un sistema para controlar la potencia suministrada a cada actuador. Tal sistema es comandado por un usuario empleando una interfaz graca también desarrollada en este trabajo. En el final del trabajo, se caracterizo el comportamiento mecánico del dedo en función de la potencia suministrada a los actuadores. Para ello, se evaluó la respuesta del mecanismo midiendo los desplazamiento de las falanges que componen el dedo por medio de un sistema de correlación de imágenes. Se concluye que el dispositivo fabricado presenta resultados superadores al trabajo previo en cuanto a desempeño. Se pudo desarrollar un montaje experimental adecuado para caracterizarlo. El sistema de control de potencia, la interfaz de usuario y el montaje experimental desarrollados para la caracterización del prototipo final facilitaran la continuidad de la investigación en diseños futuros.
Resumen en inglés
This manuscript presents the development process of a robotic finnger, conceived to be part of a prosthetic hand. Starting from an initial design developed partially during my undergraduate project, several improvements in the actuation mechanism were implemented. This allowed the fabrication of new prototypes with better performance than the previous designs. The operation of the device is based on an underactuated transmission mechanism, which allows the nger to be controlled with a minimal set of actuators. After building a working prototype, a system was developed that regulates the power supply to each actuator. This is commanded by the user through a graphical interface. At the end of the work, the relationship between the mechanical response of the finger and the actuator power supply was studied. For this purpose, the movements of the mechanism were measured by means of an image correlation system. In conclusion, the fabricated device presents a better performance than previous developments. In addition, it was possible to perform a suitable experimental setup to characterize the device. The power control system, graphical interface and experimental setup will contribute to the study of future designs.
| Tipo de objeto: | Tesis (Maestría en Ingeniería) |
|---|---|
| Palabras Clave: | Prostheses; Prótesis, Hands; Manos; Shape memory effect; Efecto de memoria de la forma; [Anthropomorphic desing; Diseño antropomórfico, Embebbed systems; Sistemas embebidos] |
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| Materias: | Física > Física de materiales Ingeniería mecánica > Robótica |
| Divisiones: | Investigación y aplicaciones no nucleares > Física > Física de metales |
| Código ID: | 1036 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 09 Jun 2022 11:05 |
| Última Modificación: | 09 Jun 2022 11:05 |
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