Diseño e implementación de manos robóticas para la generación de movimientos del alfabeto dactilológico.

Abstract

The present work describes the design and implementation of a prototype robotic hands for the generation of movements of the alphabet dactilologic of the official dictionary of Ecuadorian sign language, which will facilitate the teaching/learning process of hearing impaired people in order to improve the system of education provided to this population with traditional methods. The design part of the study of anthropometric measurements of the human hand, their movements and joints, for at a later stage by making use of the SOLIDWORKS software to give rise to a design of parts and assembly to provide a model of robotic hand to mechanize by making use of the 3D printing technology. The kinematic analysis was performed using the algorithm of direct and inverse kinematic Denavit-Hartenberg using the geometric method to set the positions of the end effector and articular coordinates respectively. Using the Euler-Lagrange formulation of a dynamic model was raised as expressed in canonical form of robotic prototype. Using the LabVIEW Platform developed a graphical interface as a means of interaction between the user and the robotic prototype. An Arduino acts as a gateway for traffic control instructions through a serial interface from the graphics platform toward the actuators of the prototype. A robotic prototype was obtained with 20 degrees of freedom, to cover a test cycle is reached a 89% accuracy in the generation of the movements of the alphabet dactilologic. The graphical interface developed combines the movements of the robotic actuator with graphic resources that impacts the user to gain your attention. For future research would be recommended to increase the number of degrees of freedom for the generation of words.