Robotic Hand

V
Centro de Bachillerato Tecnológico Industrial y de Servicios #7

2025

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School: Industrial and Services Technological High School #7

Grade and Group: 6th Semester “A” Evening

Specialty: Mechatronics

Subject: Integrate and interpret devices in mechatronic systems

Teacher: Eng. Isidro Rodriguez Garcia

Members:
1. Aldama Hernandez Diana Selene
2. Almeida Medina Oscar Francisco
3. Roberto Carlos Knight Houses
4. Castrejon Hernandez Oscar Mariano
5. Nicasio Jovanny Flowers
6. Garcia Bryan Alexis
7. Gonzalez Cruz Willy Alexis
8. Gonzalez Rodriguez Julio Cesar
9. Gonzalez Roque Gerardo
10. Hernandez Perez Luis Angel
11. Hurtado Castro Jose Luis
12. Edgar Govany Purple Islands
13. Matthew Acosta Abraham
14. Mayen Cruz Reydair De Jesus
15. Mora Aquino Augustine
16. Clarissa Natali Ramirez Gonzalez
17. Kings Aguillon Isaac Alan
18. Rodriguez Gonzalez Erik Alexis
19. Solano Garcia Edson Antonio
20. Soto Pichardo Joshua Geronimo
21. Villarreal Olvera Eduardo

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Teams
Materials:
 Edgar Govany (Manager) Purple Islands
 Nicasio Jovanny Flowers
 Gonzalez Rodriguez Julio Cesar
 Clarissa Natali Ramirez Gonzalez

Design:
 Gonzalez Rodriguez Julio Cesar (Manager)
 Almeida Medina Oscar Francisco
 Kings Aguillon Isaac Alan
 Solano Garcia Edson Antonio
 Villarreal Olvera Eduardo

Machining:
 Villarreal Olvera Eduardo (Manager)
 Castrejon Hernandez Oscar Mariano
 Garcia Bryan Alexis
 Gonzalez Cruz Willy Alexis
 Gonzalez Roque Gerardo
 Hernandez Perez Luis Angel
 Hurtado Castro Jose Luis
 Edgar Govany Purple Islands
 Matthew Acosta Abraham
 Mayen Cruz Reydair De Jesus
 Rodriguez Gonzalez Erik Alexis

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Assembly:
 Soto Pichardo Joshua Geronimo (Manager)
 Roberto Carlos Knight Houses
 Gonzalez Rodriguez Julio Cesar
 Mora Aquino Augustine
 Kings Aguillon Isaac Alan
 Solano Garcia Edson Antonio

Electronics:
 Almeida Medina Oscar Francisco (Manager)
 Aldama Hernandez Diana Selene
 Nicasio Jovanny Flowers
 Edgar Govany Purple Islands
 Soto Pichardo Joshua Geronimo
 Villarreal Olvera Eduardo

Programming:
 Mora Aquino Agustin (In charge)
 Gonzalez Rodriguez Julio Cesar
 Villarreal Olvera Eduardo

Report:
 Mora Aquino Agustin (In charge)
 Gonzalez Rodriguez Julio Cesar
 Solano Garcia Edson Antonio

General:
 Flores Nicasio Jovanny (Manager)

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Introduction
This work report is part of the system for teaching about Integra and interpret
devices in mechatronic systems. The system provides a solid basis for practical
training and professional development. The following technological project
includes the development of a robotic hand and its modification to achieve the
greatest perfection.

A robotic hand is something that performs human hand movements or imitates

and repeats tasks that humans do. Robotic hands are programmable and
operate automatically, sometimes even autonomously. Robotic hands can be
used for a variety of tasks, but they often do jobs that are repetitive and boring
or too dangerous for humans.

This project allows the student to develop a broad knowledge about the
modification of mechanical elements in a robot and also, as well as the teaching
of the mechanical elements that are composed. This work is part of the steering
control system of a robotic hand, so that it can perform a wide variety of tasks
assigned to it by the operator through programming.

Index
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 Safety measures………………………………………………………………………...7

 Summary………………………………………………………………………………...
…......8

 Problem
statement…………………………………………………………………………...9

Objectives……………………………………………………………………………………………...
10

 Justification………………………………………………………………………………11

 Material………………………………………………………………………………......12

 Theoretical Framework………………………………………………………………………
13 - 16

 Development……………………………………………………………………………17 – 24

 Conclusion………………………………………………………………………………25

 Recommendations………………………………………………………………...……26

 Annexes………………………………………………………………………………27- 37

References…………………………………………………………………………………………...3
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Safety measures
Before you start handling the robotic hand, you need to do the following:

 Please read this guide carefully before beginning the practice.

 Observe that there are no anomalies.

 Do not touch any moving parts of the robotic hand during operation.

 Do not leave objects within the operating area of the robotic hand.

 Report any anomalies to the instructor.

 Electrical connections should be made and disconnected only when the

main voltage is cut off.

 Do not intervene manually unless the machine is stopped.

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Summary
The hand is the terminal organ of the upper limb, which in humans is one of the
most important parts of the body, due to its functional richness, it offers the
possibility of being an effector, sensitive segment, allowing multiple movements
and actions necessary for survival and relationship with the environment. The
human hand is composed of 27 bones divided into three groups: the carpus, the
metacarpals and the phalanges, it is connected to the wrist through the palm
and is equipped with twenty DOF (degrees of freedom) actuated by about forty
muscles. The bone structure of the hand is shown in the following figure.

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Problem Statement
The design and construction of a robotic hand involves a project in which a
prototype robot must be designed with the dimensions that allow for precise
and fluid movements. The robot is based on the use of servomotors and
actuators connected to a control panel (user interface) where the task to be
performed will be controlled and programmed. These in turn will perform
vertical and horizontal movements in order to complete the task established by
the user.

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Goals
General Objective:
1. The purpose of this project is the integration of a robotic hand controlled
by a microcontroller (Arduino) into an automated process. This hand will
be placed at the end point of the entire process, with the purpose of
storing all the output elements supplied by a manipulator.

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Specific Objectives:

1. Design and build the robot prototype.

2. Perform project requirements analysis.
3. Perform weight and dimension analysis of joints.
4. Use a high-level language to program the prototype's user interface.
5. Conduct a comparative analysis of the performance of the robotic hand
compared to a commercial one.
6. Prepare the system user and maintenance manual.

Design justification
Currently, the use of automated systems is attractive and indispensable within
manufacturing processes. Through prototypes built for educational purposes,
students can learn to perform tasks related to production chains and the
logistics used in this process. Furthermore, being aware of the current reality of
the Institute's career, and not being able to count on the machines and tools
necessary to model a production line, it has been decided to build an element of
said system; the manufacture of a robotic hand as a project in which students of

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the career actively participate will strengthen the training of our students. It is
worth mentioning that through the active participation of teachers and students,
knowledge will be strengthened.

Material
Machining:

 Delrin plate
 Delrin cylinder
 Bronze cylinder
 PVC
 Soluble coolant

Electronics:

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 Phenolic plates
 Phenic acid
 Soldering cream
 Electrical terminals
 Push button
 220 ohm resistors
 1K ohm resistors
 Soldering iron
 Acetate

Programming:

 Servomotors
 Arduino

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Theoretical framework
Robotic Hand:

A robotic hand is a type of mechanical hand, usually programmable, with

functions similar to those of a human hand; this may be the sum total of the
mechanism or may be part of a more complex robot. The parts of these
manipulators or fingers are interconnected through joints that allow both
movement (such as those of an articulated robot) and translational movement
or linear displacement.

A more natural robotic hand. Understanding the intricacies of how the human
hand works is an indispensable part of developing an articulated
anthropomorphic artificial hand and is also one of the goals of an EU-funded
project already underway.

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Degrees of freedom of a robot:

Without a doubt, one of the main characteristics that define robots is the
"degrees of freedom" they possess. Talking about "degrees of freedom" is
equivalent to saying the number and type of movements of the manipulator.

When we talk about degrees of freedom, we refer to the movement of pieces in

a three-dimensional space, such as translation in the three perpendicular axes
(forward/backward, left/right, up/down), rotation in cylindrical pieces, or the
combination of previous movements.

Joints:

The analysis of the basic joints allows us to identify the degrees of freedom, that
is, their capacity for movement.

The ball joint is considered to have 3 degrees of freedom, since it can move in
the 3 Cartesian axes (x, y, z).

Servomotors:

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This can be brought to specific angular positions by sending a coded signal. As

long as a coded signal exists on the input line, the servo will maintain the
angular position of the gear. When the encoded signal changes, the angular
position of the pinions changes. In practice, servos are used to position control
surfaces such as the movement of levers, small elevators and rudders. They are
also used in radio control, puppets, and of course, in robots.

Operation:

The servo motor has some control circuitry and a potentiometer (a variable
resistor) this is connected to the center shaft of the servo motor. In the figure
you can see the right side of the circuit. This potentiometer allows the control
circuitry to monitor the current angle of the servo motor. If the shaft is at the
correct angle, then the motor is off. If the circuit checks that the angle is not
correct, the motor will rotate in the appropriate direction until it reaches the
correct angle. The servo axis is capable of reaching around 180 degrees.
Typically, some reach 210 degrees, but it varies depending on the
manufacturer. A normal servo is used to control an angular movement between
0 and 180.

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ARDUINO MEGA 2560 R3:

Arduino is an open source development platform, based on a board with inputs

and outputs, and a programming environment that implements the
Processing/Wiring language. Arduino can be used to develop stand-alone
interactive objects or can be interfaced with computer software (e.g. Flash,
Processing, MaxMSP). The open source IDE can be downloaded for free for Mac
OS X, Windows and Linux.

The Arduino Mega is a development board based on the ATmega2560. It has 54

digital input/output pins (of which 14 can be used as PWM outputs), 16 analog
inputs, 4 UARTs (serial ports), a 16 MHz crystal oscillator, a USB connection, a
power connector, an ICSP header, and a reset button. It contains everything you
need to use the microcontroller, just connect it to a computer with a USB cable
or power it with a power supply or battery to start using it. The Arduino Mega is
compatible with most shields designed for the Arduino Duemilanove or
Diecimila.

The Arduino Mega 2560 R3 also adds SDA and SCL pins next to the AREF pin.
Additionally, there are two new pins placed near the RESET pin. One of them is
the IOREF that allows the shields to adapt to the voltage supplied from the card.
The other is one that is not connected and is reserved for future use. The
Arduino Mega 2560 R3 works with all existing shields and can be adapted to
new shields that use these additional pins.

Characteristics:

• ATmega2560 Microcontrollers
• Input voltage 7-12V
• 54 digital input/output pins (14 of which can be used as PWM output)
• 16 analog ports
• 256 KB Flash Memory

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Development
1. Hand structure design.

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2. 3D structure design using Solid Works.

3. Delrin cylinder turning phase.

4. Finished and numbered parts ready for milling.

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5. Milling phase of turned parts.

6. Completed phalanges.

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7. Development phase of the robotic palm.

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8. .

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9. Placing the forearm servo motor base.

10. Assembly of the lower part of the robotic forearm.

11. Lower forearm placement.

12. Assembly of the upper part of the robotic forearm.

13. Placement of the upper forearm with its respective servomotor.

14. Gripper movement servo motor base assembly.

15. Positioning the gripper movement servomotor.

16. Installation of the gripper rotation servomotor.

17. Placing the gripper.

18. Placement of the servomotor that will allow the gripper to open.

19. Placing the Arduino

20. Final assembly.

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Conclusion
 The construction of the robotic hand is aimed primarily at students, who
by taking the initiative can contribute one more grain of sand to both the
construction of these tools and their implementation in the workshops
within the school, as well as taking subsequent models to improve them.

 Regarding the use of a robotic hand in the school's workshops, it

represents a new idea since they are mostly found in large industries and
are not very common in schools. Having a tool that is useful for everyone
is very important since with it we run less risk of getting hurt when
handling dangerous materials or substances.

 The construction of this hand brought unexpected inconveniences given

that the level of knowledge we had before starting to build it was not very
high. These inconveniences were gradually resolved by quickly finding
solutions to avoid stagnating.

 The use of lightweight materials is very important for the construction of a

robotic hand, since any additional weight will result in mechanical and
economic complexity, since it will require the use of higher-power motors.
A good material is aluminum, it is easy to obtain, relatively inexpensive
and extremely light compared to its hardness.

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Recommendations
The recommendations that we consider for the prototype are the following:

Provide courses on how to operate the robotic hand and explain the
routines it can perform to avoid accidents.

It is recommended to perform preventive maintenance every 3 months to

avoid major failures and to change parts if necessary.

Its operating area should be in a place with room temperature and out of
reach of moisture.

Program the Microcontroller (Arduino) at least every 3 months for proper

operation.

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