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.

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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

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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

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Issue

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

Section

Technical Note

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