Diseño y validación de una mano antropomórfica para implementación en robot de servicio

Abstract

This project presents the design and validation of an anthropomorphic hand for the service robot Walter, aiming to enhance its human-robot interaction capabilities. The hypothesis proposes that a low-cost, modular, and functional solution can be effectively integrated into collaborative environments. The project is justified by the limited availability of accessible robotic hands for educational and research institutions, which hinders progress in service robotics. During development, Dynamixel motors, FSR402 sensors, 3D printing with PLA and TPU, and a cable-driven transmission system were used. Components were modeled in CAD, a 21:1 ratio cycloidal gear was implemented for the wrist, and an OpenCM 9.04 controller was programmed in Python. Tests included handshaking, numeric representation, and coarse gripping. Results showed that the prototype performed precise and safe gestures, with a 2-hour autonomy, a load capacity of 2 kg, and a usable torque of 26.8 Nm. Sensory integration allowed dynamic adjustment of applied force. It is concluded that the system is functional, adaptable, and replicable, with potential applications in education, assistance, and gestural communication. Keywords: service robotics, anthropomorphic hand, dynamic control, 3D printing, human-robot interaction.