Journal
MATHEMATICS
Volume 9, Issue 13, Pages -Publisher
MDPI
DOI: 10.3390/math9131468
Keywords
soft robotics; continuum mechanisms; modeling of complex systems; kinematic model of soft robots
Categories
Funding
- project Desarrollo de articulaciones blandas para aplicaciones roboticas by the Comunidad Autonoma de Madrid (CAM) (Department of Education and Research) [IND2020/IND-1739]
- RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robotica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV), - Programas de Actividades I+D en la Comunidad de Madrid [S2018/NMT-4331]
- Structural Funds of the EU
Ask authors/readers for more resources
A soft joint with 2 Degrees of Freedom designed to function as a robotic joint utilizing a Cable-Driven Parallel Mechanism. A test platform using components manufactured in a 3D printer with a flexible polymer was developed to analyze its performance in detail. The mathematical kinematics model of the soft joint including a blocking mechanism and workspace morphology was validated through Finite Element Analysis, with experimental tests confirming the inverse kinematic model and potential use in robotic platforms.
A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available