Publication: A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applications
dc.affiliation.dpto | UC3M. Departamento de Ingeniería de Sistemas y Automática | es |
dc.affiliation.grupoinv | UC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab) | es |
dc.contributor.author | Nagua Cuenca, Luis Fernando | |
dc.contributor.author | Relaño Gibert, Carlos | |
dc.contributor.author | Monje Micharet, Concepción Alicia | |
dc.contributor.author | Balaguer Bernaldo de Quirós, Carlos | |
dc.contributor.funder | Comunidad de Madrid | es |
dc.date.accessioned | 2022-06-13T09:09:57Z | |
dc.date.available | 2022-06-13T09:09:57Z | |
dc.date.issued | 2021-07-01 | |
dc.description.abstract | A 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.sponsorship | The 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.extent | 25 | |
dc.identifier.bibliographicCitation | Nagua, 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.doi | https://doi.org/10.3390/math9131468 | |
dc.identifier.issn | 2227-7390 | |
dc.identifier.publicationfirstpage | 1 | |
dc.identifier.publicationissue | 13 | |
dc.identifier.publicationlastpage | 25 | |
dc.identifier.publicationtitle | Mathematics | en |
dc.identifier.publicationvolume | 9 | |
dc.identifier.uri | https://hdl.handle.net/10016/35079 | |
dc.identifier.uxxi | AR/0000030860 | |
dc.language.iso | eng | |
dc.publisher | MDPI | en |
dc.relation.projectID | Comunidad de Madrid. S2018/NMT-4331 | es |
dc.relation.projectID | Comunidad de Madrid. IND2020/IND-17396 | es |
dc.rights | © 2021 by the authors | en |
dc.rights | Atribución 3.0 España | * |
dc.rights.accessRights | open access | en |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | * |
dc.subject.eciencia | Matemáticas | es |
dc.subject.other | Soft robotics | en |
dc.subject.other | Continuum mechanisms | en |
dc.subject.other | Modeling of complex systems | en |
dc.subject.other | Kinematic model of | en |
dc.subject.other | Soft robots | en |
dc.title | A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applications | en |
dc.type | research article | * |
dc.type.hasVersion | VoR | * |
dspace.entity.type | Publication |
Files
Original bundle
1 - 1 of 1