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 documento: | artigo |
| Estado: | Versão publicada |
| Data de publicação: | 2019 |
| País: | México |
| Recursos: | Universidad Autónoma de Baja California Sur |
| Repositório: | Repositorio Institucional de la UABCS |
| Idioma: | espanhol |
| OAI Identifier: | oai:repositorioinstitucional.uabc.mx:20.500.12930/7014 |
| Acesso em linha: | https://recit.uabc.mx/index.php/revista/article/view/2oeyb5 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico |
| Resumo: | 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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