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

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...

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Autores principales: López Cortés, Francisco José, Vergara Limón, Sergio, Vargas Treviño, María Aurora Diozcora, Palomino Merina, Amparo Dora, Pinto Avedaño, David Eduardo, Vilariño Ayala, Darnes
Format: Online
Jezik:spa
Izdano: Universidad Autónoma de Baja California 2019
Online dostop:https://recit.uabc.mx/index.php/revista/article/view/57
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Izvleček: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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