Publication:
A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck

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URI: https://hdl.handle.net/10016/30444
ISBN: 978-84-09-04460-3
DOI: https://doi.org/10.17979/spudc.9788497497565.0522
UXXI: CC/0000030147
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approach_XXXIXJA_2018_ps.pdf (1.35 MB)
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2018-09-05
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Universidade da Coruña
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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.
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This paper has been presented at XXXIX Jornadas de Automática.
Keywords
Soft robotics neck, Cable-driven parallel, Mechanisms (CDPM), Fractional order control, Robust control, Neck prototype
Bibliographic citation
Nagua, L., Muñoz, J., Monje, C.A., Balaguer, C. (2018). A first approach to a proposal of a soft robotic link acting as a neck. En Actas de las XXXIX Jornadas de Automática, pp.522-529.
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DISA - LR - Comunicaciones en Congresos y otros eventos
DISA - LR - Capítulos de Monografías