Publication: Design and performance validation of a cable-driven soft robotic neck
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2018-06-01
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Universidad de Valladolid
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Abstract
The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF). It is mainly aimed to investigate, study and design a mechanism that allows to simulate the movements of a human neck, concretely the movements of flexion, extension and lateral bending. To archieve these movements, the design is made based on a cable-driven mechanism, validating the design of spring, through which it will be possible to obtain the sketch of the components that make up the soft neck and then its manufacture in a 3D printer. Another important aspect for the development of the project is the load weight that the soft neck can support, in order to size the motors that are needed for the operation of the parallel mechanism. In addition, the analysis of its mathematical model for the control system that will be implemented in future work is carried out.
Description
This paper has been presented at Jornadas Nacionales de Robótica 2018
Keywords
Cable-Driven Parallel Mechanisms (CDPM), Soft robotics, Neck prototype, Design and modelling
Bibliographic citation
Nagua,L., Monje, C. A., Muñóz, J. y Balaguer, C. (2018). Design and performance validation of a cable-driven soft robotic neck. Jornadas Nacionales de Robótica, JNR 2018, pp. 1-6.