Nagua, LuisMuñoz, JorgeMonje, C.A.Balaguer, Carlos2020-02-182020-02-182018Nagua, 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.9788497497565978-84-09-04460-3 (UEX)978-84-9749-756-5 (UDC electrónico)http://hdl.handle.net/2183/24937[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.enghttp://creativecommons.org/licenses/by-nc/3.0/es/Soft robotics neckCable-driven parallelMechanisms (CDPM)Fractional order controlRobust controlNeck prototypeconference outputopen accesshttps://doi.org/10.17979/spudc.9788497497565.0522