Desarrollo de un sistema mecatrónico para robot humanoide que permita emular el movimiento  del cuello de los seres humanos

Francisco José López Cortés; Sergio Vergara Limón; María Aurora Diozcora Vargas Treviño; Amparo Dora Palomino Merina; David Eduardo Pinto Avedaño; Darnes Vilariño Ayala

doi:10.37636/recit.v213539

Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings

Authors

Francisco José López Cortés Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Benemérita Universidad Autónoma de Puebla. Av. San Claudio and 18 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0002-7427-1386
Sergio Vergara Limón Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Benemérita Universidad Autónoma de Puebla. Av. San Claudio and 18 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0002-5215-9262
María Aurora Diozcora Vargas Treviño Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Benemérita Universidad Autónoma de Puebla. Av. San Claudio and 18 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0001-7188-2782
Amparo Dora Palomino Merina Faculty of Electronic Sciences, Master in Electronic Sciences, Automation option, Benemérita Universidad Autónoma de Puebla. Av. San Claudio and 18 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0002-2150-7762
David Eduardo Pinto Avedaño Faculty of Computer Science, Benemérita Autonomous University of Puebla, Av. San Claudio and 14 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0002-8516-5925
Darnes Vilariño Ayala Faculty of Computer Science, Benemérita Autonomous University of Puebla, Av. San Claudio and 14 Sur S / N C.U. Col. Jardines de San Manuel, C.P. 72570, Puebla, Puebla, Mexico. https://orcid.org/0000-0002-3539-2783

DOI:

https://doi.org/10.37636/recit.v213539

Keywords:

Keywords, Mechatronic System, Humanoid Robot, Dynamic Model, FPGA, WiFi.

Abstract

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.

Downloads

Download data is not yet available.

Metrics

Metrics Loading ...

References

Hanson Robotics. (2016, 15 Marzo). Meet Arthur a Humanoid Robot (Hanson Robotic News). [Página web]. Disponible en: http://hansonrobotics.com/slate-fr-blogger-meets-arthur-dld-conference/

J. L. Guerra, Manual de fisioterapia (2a. ed.). Editorial El Manual Moderno, 2018. https://tienda.manualmoderno.com/manual-de-fisioterapia-9786074487107-9786074487190.html?SID=38b00ea117d111154a7fd6fe32c80c75&___store%5B_data%5D%5Bstore_id%5D=2&___store%5B_data%5D%5Bcode%5D=manual_moderno_mexico_mxn&___store%5B_data%5D%5Bwebsite_id%5D=2&___store%5B_data%5D%5Bgroup_id%5D=2&___store%5B_data%5D%5Bname%5D=Manual+Moderno+M%C3%A9xico&___store%5B_data%5D%5Bsort_order%5D=0&___store%5B_data%5D%5Bis_active%5D=1

F. Cortés, “Robótica: Control de Robots Manipuladores”, Alfaomega Grupo Editor, 1era. Edición, México, 2011. https://www.alfaomega.com.mx/default/robotica-control-de-robots-manipuladores-4645.html

Assembly of the mechanical structure coupled with the head of the humanoid robot

Downloads

Published

2019-02-10

How to Cite

López Cortés, F. J., Vergara Limón, S., Vargas Treviño, M. A. D., Palomino Merina, A. D., Pinto Avedaño, D. E., & Vilariño Ayala, D. (2019). Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings. REVISTA DE CIENCIAS TECNOLÓGICAS, 2(1), 35–39. https://doi.org/10.37636/recit.v213539

Download Citation

Issue

Vol. 2 No. 1 (2019): January-March

Section

Technical Note

License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The authors who publish in this journal accept the following conditions:

The authors retain the copyright and assign to the journal the right of the first publication, with the work registered with the Creative Commons Attribution license 4.0, which allows third parties to use what is published as long as they mention the authorship of the work and the first publication in this magazine.

Authors may make other independent and additional contractual agreements for the non-exclusive distribution of the version of the article published in this journal (eg, include it in an institutional repository or publish it in a book) as long as they clearly indicate that the work it was first published in this magazine.

Authors are allowed and encouraged to share their work online (for example: in institutional repositories or personal web pages) before and during the manuscript submission process, as it can lead to productive exchanges, greater and more quick citation of published work (see The Effect of Open Access).