A first approach to a proposal of a soft robotic link acting as a neck

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A first approach to a proposal of a soft robotic link acting as a neck

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Title: A first approach to a proposal of a soft robotic link acting as a neck
Author: Nagua, Luis; Muñoz, Jorge; Monje, Concepción A.; Balaguer, Carlos
Abstract: The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.El propósito de este trabajo es diseñar un prototipo robótico de cuello suave con dos grados de libertad (DOF) y proponer un sistema de control basado en un controlador de PD de orden fraccional (FPD). El cuello podrá realizar movimientos de flexión, extensión y flexión lateral. Para lograr estos movimientos, el diseño se basa en un mecanismo accionado por cable, con componentes fáciles de fabricar en una impresora 3D. Se realizan simulaciones para validar la viabilidad del prototipo de robot paralelo desarrollado y la robustez del esquema de control propuesto para los cambios de masa en la punta.
Description: Comunicación presentada a las XXXIX Jornadas de Automática, celebradas en Badajoz del 5 al 7 de Septiembre de 2018 y organizada por la Universidad de Extremadura.
URI: http://hdl.handle.net/10662/8411
Date: 2018


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Attribution-NonCommercial 4.0 International Except where otherwise noted, this item's license is described as Attribution-NonCommercial 4.0 International

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