Modelado y Simulación Robótica de la Extremidad Superior Humana en Open Source.

Abstract

We designed a protitype of an anthropomorphic robotic arm of 6 degrees of freedom to simulate the movements of the human arm, using OpenSource programs such as OpenRAVE and FreeCAD on the Linux plataform, with which it was determined the architecture OpenSource allows a better development in the simulation of robots and it would provide assistance in the calculation of the direct kinematics. Considering the height of a man of 1.70 m and Sjovold formulas calculated measures of each segment of the human arm 31.63 cm. forearm 23.88 cm., hand used ergonomics tables determining 17.4 cm. As total length, each finger there are the proximal, medial and distal phalanges values oscillate between 3.6-5, 2.5-3.5 and 2.2-2.8 cm. respectively; also examined anatomically allowed by joint movements shoulder, elbow, and wrist their respective boundaries of mobility model FreeCAD software allowed us to create parts of the arm with the described characteristics of size and functionality. In the Simulator OpenRAVE is assemble the robot defining the handler from the shoulder to the wrist and the hand as their final effector, several programs were written in C++ to perform test using some functions that provides Simulator. The general programme was the motion of the manipulator by entering parameters by keyboard: articulation and grades, getting into the terminal time and speed at every points of the path to represent them in position graphics, speed and angular acceleration by checking that the robot operates effectively without any interruption to reach its goal in 95%; While the Simulator shows the position of the end effector in relation to the global coordinate system showing the direct kinematics of the robot in a visual way as well the designed robot can be used as a “personal assistant” of people with disabilities or who cannot move by themselves