Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
The present work shows the design of a mechatronic system, which emulates the movements of the human neck, as it will support the head of a humanoid robot (Arthur) developed by Hanson Robotics. The mechanical design is based on a spherical robot of 3 degrees of freedom (3-GDL), the dynamic model is...
| Autores: | , , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2019 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DE BAJA CALIFORNIA |
| Repositorio: | Revista de Ciencias Tecnológicas |
| Idioma: | español |
| OAI Identifier: | oai:ojs.recit.uabc.mx:article/57 |
| Acceso en línea: | https://recit.uabc.mx/index.php/revista/article/view/57 |
| Access Level: | acceso abierto |
| Palabra clave: | Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico |
| Sumario: | The present work shows the design of a mechatronic system, which emulates the movements of the human neck, as it will support the head of a humanoid robot (Arthur) developed by Hanson Robotics. The mechanical design is based on a spherical robot of 3 degrees of freedom (3-GDL), the dynamic model is developed through the Euler-Lagrange equations of motion. The control stage is a FPGA (Field Programmable Gate Arrays) development board, the power stage is based on BJT transistors, the hyperbolic tangent controller and a WiFi communication interface are implemented to configure the robot From a PC with the help of Labview software. As a result, the integration of the mechatronic system, the interface developed together with the FPGA-PC communication and position control, is shown. Future work will be the implementation of the system in the humanoid robot. |
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