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A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applications

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorNagua Cuenca, Luis Fernando
dc.contributor.authorRelaño Gibert, Carlos
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2022-06-13T09:09:57Z
dc.date.available2022-06-13T09:09:57Z
dc.date.issued2021-07-01
dc.description.abstractA soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.en
dc.description.sponsorshipThe research leading to these results has received funding from the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research), and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV; S2018/NMT-4331), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.en
dc.format.extent25
dc.identifier.bibliographicCitationNagua, L., Relaño, C., Monje, C. A., & Balaguer, C. (2021). A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications. Mathematics, 9(13), 1468.en
dc.identifier.doihttps://doi.org/10.3390/math9131468
dc.identifier.issn2227-7390
dc.identifier.publicationfirstpage1
dc.identifier.publicationissue13
dc.identifier.publicationlastpage25
dc.identifier.publicationtitleMathematicsen
dc.identifier.publicationvolume9
dc.identifier.urihttps://hdl.handle.net/10016/35079
dc.identifier.uxxiAR/0000030860
dc.language.isoeng
dc.publisherMDPIen
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.relation.projectIDComunidad de Madrid. IND2020/IND-17396es
dc.rights© 2021 by the authorsen
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaMatemáticases
dc.subject.otherSoft roboticsen
dc.subject.otherContinuum mechanismsen
dc.subject.otherModeling of complex systemsen
dc.subject.otherKinematic model ofen
dc.subject.otherSoft robotsen
dc.titleA New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applicationsen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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