RT Conference Proceedings
T1 A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck
A1 Nagua Cuenca, Luis Fernando
A1 Muñoz Yáñez-Barnuevo, Jorge
A1 Monje Micharet, Concepción Alicia
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) 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.
PB Universidade da Coruña
SN 978-84-09-04460-3
YR 2018
FD 2018-09-05
LK https://hdl.handle.net/10016/30444
UL https://hdl.handle.net/10016/30444
LA eng
NO This paper has been presented at XXXIX Jornadas de Automática.
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 17 jul. 2024