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S22 Mecatrônica |
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Title:
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MODELAGEM, SIMULAÇÃO E IMPLEMENTAÇÃO DE UM MANIPULADOR ANTROPOMÓRFICO
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Summary :
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ABSTRACT: THE TECHNOLOGICAL EVOLUTION OF ORTHESES AND PROSTHESES ADDRESSED THE MULTIDISCIPLINARY RESEARCH WORKS DEVELOPMENT IN THE AUTOMATION AND ROBOTICS AREA, MAINLY IN THE TASK OF ARMS AND ARTIFICIAL LEGS PROJECT. IN THIS WORK, BEING TAKEN IN CONSIDERATION ANATOMICAL, PHYSIOLOGIC ASPECTS AND CINESIOLOGIC OF SUPERIOR AND INFERIOR MEMBERS OF THE HUMAN BODY, THE KINEMATICS MODEL SIMILAR TO THE NATURAL MECHANISM WAS DEVELOPED, WHICH IS THE BASE SO MUCH OF THE ARTIFICIAL SYSTEM PROJECT, AS WELL AS IN THE PARAMETERIZATION OF NEURAL MYOELECTRIC CONTROL. STARTING FROM THE METHODOLOGY OF THE GENERATED KINEMATICS MODEL, COMPUTATIONAL PROGRAMS WAS ELABORATED WITH THE PURPOSE OF REPRODUCING AND MANAGING THE SPACE DISPLACEMENT OF THE ARTICULATE SYSTEM. TO VALIDATE THE DEVELOPED ALGORITHM, WAS ELABORATED A FINGER ARTICULATE SYSTEM PROTOTYPE IN WHICH WAS IMPLEMENTED AND TESTED PART OF THE DEVELOPED METHODOLOGY.
KEY WORDS: ROBOTICS, PROSTHESES, BIOMECHANIC, AUTOMATION
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Author :
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Hermini, Helder Anibal
Rosário, João Maurício
Saramago, Marcos Antonio Porta
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Paper View :
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COBEM99
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