Desarrollo de un prototipo de mano para sujeción de granadas explosivas tipo piña aplicando elementos de robótica blanda y sensores embebidos

This article is part of a project to develop a robot for tasks in the collection and transfer of explosives, in which the system of the robotic hand was selected to make a proposal prototype and its development, in this article. This prototype of a robotic hand has the objective the grip of explosives grenades of the “pineapple” type, having as constituent parts of some soft robotics elements, especially the “soft fingers” because of their softness, they have the potential of grabbing objects in a more soft or delicate way than traditional gripper elements. It also makes use of an electro pneumatic system as well as sensors and another primary elements that allows the control and to get information during the complete process done by the robotic hand. The article also aims to make a prototype proposal for systems related to robotics and not only for the task described with grenade explosives, instead with a great potential of be used in a more general way in robotic systems. Some results were done to show good answer of the prototype developed into the take of an object with similar geometry as the pineapple grenade. Another analysis from the results given by the experiments, showed a linear relationship between the curvature of the finger and some of the variables and parameters considered in the proposed analysis.