Robotic Prosthesis

This is my Master's final project. It consists of making the prototype of a robotic prosthesis designed to be anufactured domestically using a 3D printer and easy-to-program electronic components.

A very important part was spreading it on a platform like this for anyone who wants can acquire it or even improve it.

1. The central axis formed by an M4x50 screw with the conical head is introduced in the wrist base.

2. The cables are passed through the holes in the motor supports. Three servo motors are placed and set with he M2 vises that come in the pack.

3. The wheels of the wrist motors are inserted into each motor on their axis of rotation.

4. The central wheels are placed.

5. Place the 3 connectors on the correct level, adding a packing ring and 2 M4 nuts.

6. Using M4x16 screws, nuts and washers, add the 90º connectors.

7. Fit the hexagonal hole bar to the hand driving wheel.

8. Insert the driving wheel into the base of the hand space where the motor and a conical M5x25 screw is passed so that the wheel stays attached to the base.

9. The clamping element is fitted with the servo motor applying some pressure.

10. The 4 simple bars are placed using M5x25 screws and their respective washers and nuts.

11. The fingers are set with the same type of screws.

12. The motor is attached to the wheel and screwed in the same way as with those of the doll.

13. The finished hand is mounted to the upper platform of the wrist.

14.

15. Servo motor 1, 2, 3 and 4 are connected to PWM pins 9, 10, 11 and 3 respectively.