DISEÑO Y ANÁLISIS CINEMÁTICO DE UN ROBOT PARALELO PARA REHABILITACIÓN DE CADERA

ResumenEn la vida cotidiana se presentan problemas que debilitan los músculos debido a situaciones como: una edad avanzada, accidentes o enfermedades. Esta debilidad o pérdida de movilidad, ocasiona rigidez en las articulaciones lo que ocasiona pérdida en el rango de movimiento.Para recuperar la capacidad de movimiento, los músculos débiles podrían fortalecerse utilizando dispositivos de rehabilitación o tratamiento ortopédico. La creciente necesidad actual de aplicación de terapias de rehabilitación y la falta de clínicas y personal especializado aumenta la necesidad de implementar robots que realicen estas tareas que resultan repetitivas y cansadas para el fisioterapista.En este artículo se presenta el diseño y análisis cinemático de un robot paralelo para rehabilitación de la cadera de tres grados de libertad que proporciona los seis movimientos que se requieren: flexión-extensión, abducción-aducción, y rotación interna-externa.El robot paralelo propuesto consta de tres actuadores conformados de un motor de CD acoplado a una corredera lineal accionada por un tornillo sinfín, cada actuador está colocado en cada uno de los tres ejes cartesianos X, Y y Z. Se presentan resultados de simulación del análisis cinemático utilizando programas especializados.Palabra(s) Clave: Robot paralelo, rehabilitador de cadera, análisis cinemático. DESIGN AND KINEMATIC ANALYSIS OF A PARALLEL ROBOT FOR HIP REHABILITATIONAbstractIn activities of daily living problems are presented that weaken muscles due to situations such as: an advanced age, accidents or illness. This weakness or loss of mobility causes stiffness in the joints resulting in loss of range of motion.To regain movement capacity, weak muscles could be strengthened using rehabilitation or orthopedic devices. The growing need for rehabilitation therapies and the lack of clinics and specialized personnel increases the need to implement robots that perform these tasks that are repetitive and tire for the physiotherapist.This paper presents the kinematic design and analysis of a parallel robot for hip rehabilitation of three degrees of freedom that provides the six movements that are required: flexion-extension, abduction-adduction, and internal-external rotation.The proposed parallel robot consists of three actuators consist of a CD motor coupled to a linear guide system; each actuator is placed in each of the three Cartesian axes X, Y and Z. Some simulation results of analysis using specialized software are presented.Keywords: Parallel robot, hip rehabilitation, kinematics analysis

DISEÑO DE SISTEMAS MECATRÓNICOS: PROTOTIPOS VIRTUALES (DESIGN OF MECHATRONIC SYSTEMS: VIRTUAL PROTOTYPES)

En la actualidad existe una vasta cantidad de productos mecatrónicos en todos los sectores productivos: máquinas herramientas y robots en las industrias, máquinas de envasado y embalado, automóviles y aeronaves para servicio a la sociedad, entre otros. La Ingeniería Mecatrónica es una sinergia de varias disciplinas de ingeniería como la mecánica, electrónica, control y sistemas informáticos para el diseño y fabricación de productos electromecánicos inteligentes. En el diseño de productos mecatrónicos se debe de lograr la sinergia en el sistema mecánico y sistema de control, para obtener productos eficientes, que cumplan con la función para el que fue diseñado. Para lograr esto, el proceso de diseño se basa principalmente en el uso de software de diseño y análisis utilizando prototipos virtuales. En este artículo se muestran las ventajas del uso de software en el proceso de diseño de productos mecatrónicos.Palabra(s) Clave: Diseño mecatrónico, prototipos virtuales, Software MSC ADAMS, modelo de simulación digital. AbstractCurrently there is a vast number of mechatronic products in all productive sectors. Machine tools and robots in industries, bottle soda filling and packaging machines, automobiles and aircraft for service to society, among others. Mechatronics is a synergy of several engineering disciplines such as mechanics, electronics, control and computer systems for the design and manufacture of intelligent electromechanical products. In the design of mechatronic products, synergy should be achieved between the mechanical and control system, to obtain efficient products that fulfill the function for which it was designed. To achieve this, the design process is mainly based on the use of design and analysis software, using virtual prototypes. This paper presents the advantages of using software in the process of designing mechatronic products.Keywords: Mechatronic design, virtual prototype, MSC Adams software, digital simulation model

Turbulent Kinetic Energy Distribution of Nutrient Solution Flow in NFT Hydroponic Systems Using Computational Fluid Dynamics

Hydroponics is crucial for providing feasible and economical alternatives when soils are not available for conventional farming. Scholars have raised questions regarding the ideal nutrient solution flow rate to increase the weight and height of hydroponic crops. This paper presents the turbulent kinetic energy distribution of the nutrient solution flow in a nutrient film technique (NFT) hydroponic system using the computational fluid dynamics (CFD) method. Its main objective is to determine the dynamics of nutrient solution flow. To conduct this study, a virtual NFT hydroponic system was modeled. To determine the turbulent kinetic energy distribution in the virtual NFT hydroponic system, we conducted a CFD analysis with different pipe diameters (3.5, 9.5, and 15.5 mm) and flow rates (0.75, 1.5, 3, and 6 L min−1). The simulation results indicate that different pipe diameters and flow rates in NFT hydroponic systems vary the turbulent kinetic energy distribution of nutrient solution flow around plastic mesh pots

On the State-Feedback Controller Design for Polynomial Linear Parameter-Varying Systems with Pole Placement within Linear Matrix Inequality Regions

The present paper addresses linear parameter-varying systems with high-order time-varying parameter dependency known as polynomial LPV systems and their controller design. Throughout this work, a procedure ensuring a state-feedback controller from a parameterized linear matrix inequality (PLMI) solution is presented. As the main contribution of this paper, the controller is designed by considering the time-varying parameter rate as a tuning parameter with a continuous control gain in such a way that the closed-loop eigenvalues lie in a complex plane subset, with high-order time-varying parameters defining the system dynamics. Simulation results are presented, aiming to show the effectiveness of the proposed controller design