In this thesis the way in which the construction of an effector is performed is shown auto adjustable for grasping tasks, from a mechanism of 4 crossed bars, which has the purpose? nal to resemble a human hand. This comprises 3 fingers similar to the index finger, where the first finger has 4 degrees of freedom, the second and third fingers have 3 degrees of freedom. The extra degree on the first finger is with the purpose of performing the function of index finger and thumb performing a rotation on the effector palm of 180 °. For the development of this effector the different types of grip or holds that an effector could perform, the dynamic behavior that a human finger possesses to observe how is the movement of each phalanx and finally the trajectory of this. Different characteristics and importance are shown of the joints in the movement of the hand. In the characteristics of the hand, the different sizes and lengths of human hands in order to deliver an approximate geometry for the implementation of the effector's fingers. The capacity and position that must be studied occupy each finger in the mechanism to better execute the trajectories of each of these. Subsequently, the most common transmission mechanisms in manipulators and in order to evaluate all the possibilities of designing and calculating the speeds and positions that the bars will develop during the trajectory process. For the mechanical design of the effector, the described lengths are taken and the mechanism of four bars and their location in the system. The positions of each phalanx are obtained and with these data is made the calculation of the speeds of each bar to establish the type of mechanism. HE delves into the degrees of freedom that the mechanism possesses and how many actuators are necessary to the movement of this. In the assembly and simulation stage each piece is shown with its space in the assemble showing the construction of a finger and explain the operation of each bar within the mechanism. The simulation of trajectories is already done with the end effector assembly. the different possible trajectories that the complete mechanism can have. With the simulation of trajectories the dynamic behavior of the mechanism was evaluated with the? n of selecting the actuator that meets the requirements of the mechanism The Denavit - Hartenberg convention is used to solve the cinematic problem direct and inverse attics of the effector which, due to its architecture of 3 rotational articulations, resembles a planar manipulator with three degrees of freedom RRR. With the obtaining and simulation of Mechanism of the mechanism is carried out the implementation of the mechanism. In the control stage of said mechanism, the calculation of the controller on the dynamic internal model of the actuator was considered with the purpose of obtaining a simulation and understand how this works. Within the strategies of control was established that control by re-feeding of states is required to obtain the speed and acceleration of the mechanism at each point of the trajectory. Finally, the graphic interface is elaborated, which allows to position the mechanism in the way desired and observe the movement of the mechanism.