A new approach for direct kinematic solution of a soft robotic neck

[Resumen] El mecanismo de cuello robótico presentado en este trabajo tiene como elemento principal un eslabón blando que emula un cuello humano con dos grados de libertad (DOF) (flexión, extensión y flexión lateral). El dispositivo se basa en un Mecanismo Paralelo Accionado por Cable (CDPM). Se desarrolla una cinemática directa a partir del sistema estático y la distribución geométrica del mecanismo, y se presentan ecuaciones lineales que permiten conocer fácilmente la longitud de los cables para hallar la posición del cuello, tanto en ángulos de inclinación como de orientación. Para el control del motor se utiliza un controlador PI de orden fraccionario (FOPI).[Abstract] The robotic neck mechanism presented in this paper has as its main element a soft link that emulates a human neck with two DOF (flexion, extension and lateral bending). The mechanism is based on a Cable-Driven Parallel Mechanism (CDPM). A direct kinematics is developed from the static system and the geometric distribution of the mechanism, and linear equations are presented that relate the length of the cables and the position of the neck, both in inclination and orientation angles. For the motor control, a fractional order PI controller (FOPI) is usedMinisterio de Economia Industria y Competitividad; PID2020-113194GB-I0

Design and performance validation of a cable-driven soft robotic neck

This paper has been presented at Jornadas Nacionales de Robótica 2018The 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.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

A first approach to a proposal of a soft robotic link acting as a neck

[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.Ministerio de Economía y Empresa; DPI2016-75330-