Diseño mecatrónico frugal y ensamble de mano robótica usando manufactura aditiva

Erick Axel Padilla García

doi:10.5281/zenodo.15127411

Authors

Erick Axel Padilla García Tecnologico de Estudios Superiores de Ecatepec (TESE) https://orcid.org/0000-0001-6229-5930

DOI:

https://doi.org/10.5281/zenodo.15127411

Keywords:

robotic hand, Mechatronics design, Frugal innovation, Additive manufacturing, robots

Abstract

This manuscript presents the design and assembly of a robotic hand obtained through the implementation of a sequential mechatronic design methodology, with a frugal innovation approach, which allowed for achieving a low-cost, open-architecture mechatronic system. First, the modeling, manufacturing, construction, and assembly process is presented through CAD modeling and 3D printing. Subsequently, the modeling process of the mechanical design is shown using the Fusion 360 software, which allowed for modeling the joint movement of the fingers of the hand, obtaining modifiable, reproducible, and scalable parts and mechanisms, to study the various manipulation and grip functions. In terms of mobility, it can imitate the complex functionality of a real human hand. Using a virtual reality model was generated to visualize the final design, before its instrumentation and construction. Finally, the actual manufacturing and assembly of the hand were carried out to validate the theoretical design and mobility proposal.

Author Biography

Erick Axel Padilla García, Tecnologico de Estudios Superiores de Ecatepec (TESE)

In 2008, Erick A. Padilla-Garcia obtained his B.S. degree in Industrial Robotics Engineering from the National Polytechnic Institute (IPN). In 2011, he received an M.Sc. degree in Electrical Engineering, option Automatic Control at the Research Center and Advanced Studies (CINVESTAV-IPN), Campus Guadalajara, Mexico. In 2018, he obtained his Ph.D. in Electrical Engineering, option Mechatronics, at CINVESTAV-IPN, Mexico. From 2019 to 2024, Erick A. Padilla-Garcia worked at the Polytechnic University of Atlacomulco (UPA) as a researcher in the Robotics Engineering Division. Since 2024, Erick A. Padilla-Garcia has been working as a researcher in the mechatronic engineering graduate program at the Technological of Higher Studies of Ecatepec (TESE).

His research interests include robotics, modeling, dynamics and control of industrial manipulators, mechatronics, design, and control optimization, real-time embedded applications, state estimation, robust control, evolutive algorithms, and concurrent optimization.

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