| Name: | Description: | Size: | Format: | |
|---|---|---|---|---|
| 12.51 MB | Adobe PDF | |||
| 52.39 KB | Adobe PDF | |||
| 54.32 KB | Adobe PDF | |||
| 51.58 KB | Adobe PDF | |||
| 55.88 KB | Adobe PDF |
Authors
Abstract(s)
O corpo humano é constituído por um conjunto que órgãos que trabalham em sintonia
para proporcionar bem-estar e autonomia às pessoas. A mão é sem dúvida um dos órgãos
indispensáveis e dos principais impulsionadores da evolução humana. A possível perda de
um membro desse género, iria provocar um enorme transtorno quer a nível físico na
realização de tarefas, quer psicológico. Esta dissertação foi realizada com o intuito de dar
continuidade a uma anteriormente iniciada pelo engenheiro João Ferrão, com o objetivo
de dimensionar uma prótese transradial de baixo custo para que as pessoas que sofrem
destes problemas, obtenham uma solução para estes melhorarem a sua qualidade de vida.
Para tal, optou-se por adotar a tecnologia de impressão 3D para a produção dos
componentes estruturais desta prótese, devido ao seu baixo custo e capacidade de
produzir geometrias complexas que fornecem movimentos complexos independentemente
da sua durabilidade. Inicialmente esta dissertação inicia-se com um breve resumo sobre a
primeira iteração do braço robótico, para se formular o ponto de partida com as devidas
críticas acerca da mesma. Chegou-se à conclusão que para este projeto, os componentes
que o iriam constituir correspondia a servomotores MG92B para os atuadores, para o
controlo utilizou-se o Arduíno mega 2560, bateria Lipo de 4000 mAh com uma autonomia
entre 92 e 166 minutos. Os movimentos que os dedos realizam, são possíveis devido à
tração de cabos para o movimento de flexão, e para o movimento extensão foram
utilizadas molas como tendões elásticos. Para os movimentos de adução/ abdução do
braço e a interface de ligação com o utente e a prótese, o autor desenvolveu mecanismos
da sua autoria. Na secção do projeto detalhado, o autor desenvolveu o projeto CAD de
todos os componentes, sempre tendo em consideração as dimensões antropométricas
humanas. Em suma, todos os componentes e mecanismos dimensionados, possibilitaram
ao autor uma prótese melhorada a um preço acessível com um grau de funcionalidade
considerável.
The human body is made up of a set of organs that work together in harmony to provide people with well-being and autonomy. The hand is without any doubt one of the most important organs to provide autonomy and the main driver of human evolution. The possible loss of such a member would cause an enormous inconvenience both physically in carrying out tasks, and psychologically. This dissertation was carried out in order to continue the one previously started by the engineer João Ferrão, with the objective of designing a low cost transradial prosthesis so that people who suffer from this kind of problems can obtain a solution to improve their quality of life. Therefore, it was decided to adopt 3D printing technology to produce structural components of this prosthesis, due to its low cost and ability to provide complex geometries and movements regardless of its durability. This dissertation begins with a brief summary about the first iteration of the robotic arm, in order to formulate the starting point with the necessary criticisms about it. It was concluded that for this project, the components that would be used, corresponded to MG92B servomotors for the actuators, for the control it was used the Arduino mega 2560, Lipo battery of 4000 mAh with an autonomy between 92 and 166 minutes. The movements that the fingers perform are possible due to the traction of cables for the flexion movement, and for the extension movement springs were used as elastic tendons. For the arm adduction/abduction movements and the connection interface between the user and the prosthesis, the author developed mechanisms of his own. In the detailed design section, the author developed the CAD design of all components, always considering human anthropometric dimensions. In short, all components and mechanisms allowed the author an improved prosthesis at an affordable price with a considerable degree of functionality.
The human body is made up of a set of organs that work together in harmony to provide people with well-being and autonomy. The hand is without any doubt one of the most important organs to provide autonomy and the main driver of human evolution. The possible loss of such a member would cause an enormous inconvenience both physically in carrying out tasks, and psychologically. This dissertation was carried out in order to continue the one previously started by the engineer João Ferrão, with the objective of designing a low cost transradial prosthesis so that people who suffer from this kind of problems can obtain a solution to improve their quality of life. Therefore, it was decided to adopt 3D printing technology to produce structural components of this prosthesis, due to its low cost and ability to provide complex geometries and movements regardless of its durability. This dissertation begins with a brief summary about the first iteration of the robotic arm, in order to formulate the starting point with the necessary criticisms about it. It was concluded that for this project, the components that would be used, corresponded to MG92B servomotors for the actuators, for the control it was used the Arduino mega 2560, Lipo battery of 4000 mAh with an autonomy between 92 and 166 minutes. The movements that the fingers perform are possible due to the traction of cables for the flexion movement, and for the extension movement springs were used as elastic tendons. For the arm adduction/abduction movements and the connection interface between the user and the prosthesis, the author developed mechanisms of his own. In the detailed design section, the author developed the CAD design of all components, always considering human anthropometric dimensions. In short, all components and mechanisms allowed the author an improved prosthesis at an affordable price with a considerable degree of functionality.
Description
Keywords
Arduíno Cad Impressão 3d Iteração 2 Mioelétrica Projeto Prótese Servomotores Transradial