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

Nagua Cuenca, Luis Fernando; Relaño Gibert, Carlos; Monje Micharet, Concepción Alicia; Balaguer Bernaldo de Quirós, Carlos

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

Author(s): Nagua Cuenca, Luis Fernando; Relaño Gibert, Carlos; Monje Micharet, Concepción Alicia; Balaguer Bernaldo de Quirós, Carlos

Publisher: MDPI

Issued date: 2021-07-01

Citation: 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.

ISSN: 2227-7390

DOI: https://doi.org/10.3390/math9131468

xmlui.dri2xhtml.METS-1.0.item-contributor-funder: Comunidad de Madrid

Sponsor: 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.

Project: Comunidad de Madrid. S2018/NMT-4331
Comunidad de Madrid. IND2020/IND-17396

Keywords: Soft robotics , Continuum mechanisms , Modeling of complex systems , Kinematic model of , Soft robots

URI: http://hdl.handle.net/10016/35079

Rights: © 2021 by the authors
Atribución 3.0 España

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 pl [+]

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