Use this link to cite:
http://hdl.handle.net/2183/24937 A first approach to a proposal of a soft robotic link acting as a neck
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Nagua, Luis
Muñoz, Jorge
Monje, C.A.
Balaguer, Carlos
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Nagua, L., Muñoz, J., Monje, C.A., Balaguer, C. A first approach to a proposal of a soft robotic link acting as a neck. En Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre de 2018 (pp.522-529). DOI capítulo: https://doi.org/10.17979/spudc.9788497497565.0522 DOI libro: https://doi.org/10.17979/spudc.9788497497565
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Abstract
[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.