RT Conference Proceedings
T1 Design and performance validation of a cable-driven soft robotic neck
A1 Nagua Cuenca, Luis Fernando
A1 Monje Micharet, Concepción Alicia
A1 Muñoz Yáñez-Barnuevo, Jorge
A1 Balaguer Bernaldo de Quirós, Carlos
AB 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.
PB Universidad de Valladolid
SN 978-84-09-02877-1
YR 2018
FD 2018-06-01
LK https://hdl.handle.net/10016/30567
UL https://hdl.handle.net/10016/30567
LA eng
NO This paper has been presented at Jornadas Nacionales de Robótica 2018
NO The research leading to these results has received funding from the HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness.
DS e-Archivo
RD 30 jun. 2024