Nagua Cuenca, Luis FernandoMuñoz Yáñez-Barnuevo, JorgeMonje Micharet, Concepción AliciaBalaguer Bernaldo de Quirós, Carlos2020-05-192020-05-192018-09-05Nagua, 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.522-529.978-84-09-04460-3https://hdl.handle.net/10016/30444This paper has been presented at XXXIX Jornadas de Automática.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.8eng© 2018 The Authors.Atribución-NoComercial 3.0 EspañaSoft robotics neckCable-driven parallelMechanisms (CDPM)Fractional order controlRobust controlNeck prototypeconference paperRobótica e Informática Industrialhttps://doi.org/10.17979/spudc.9788497497565.0522open access522529Actas de las XXXIX Jornadas de AutomáticaCC/0000030147