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
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Foilsithe: Universidad Autónoma de Baja California 2019
Rochtain Ar Líne:https://recit.uabc.mx/index.php/revista/article/view/57
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spelling recit-article-572022-10-13T18:22:38Z Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings Desarrollo de un sistema mecatrónico para robot humanoide que permita emular el movimiento del cuello de los seres humanos López Cortés, Francisco José Vergara Limón, Sergio Vargas Treviño, María Aurora Diozcora Palomino Merina, Amparo Dora Pinto Avedaño, David Eduardo Vilariño Ayala, Darnes Keywords Mechatronic System Humanoid Robot Dynamic Model FPGA WiFi. Sistema Mecatrónico Robot Humanoide Modelo Dinámico FPGA WiFi. 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. En el presente trabajo se muestra el diseño de un sistema mecatrónico, el cual emula los movimientos del cuello humano, ya que sostendrá la cabeza de un robot humanoide (Arthur) desarrollado por la empresa Hanson Robotics. El diseño mecánico se basa en un robot esférico de 3 grados de libertad (3-GDL), se desarrolla el modelo dinámico a través de las ecuaciones de movimiento de Euler-Lagrange. La etapa de control es una tarjeta de desarrollo FPGA (arreglos de compuertas programables en campo) de la familia Cyclone IV, la etapa de potencia se basa en transistores BJT, se implementa el controlador Tangente hiperbólico y una interfaz de comunicación WiFi para configurar el robot desde una PC con ayuda del software Labview. Como resultado se muestra la integración del sistema mecatrónico, la interfaz desarrollada junto con la comunicación FPGA-PC y control de posición. El trabajo futuro será la implementación del sistema en el robot humanoide. Universidad Autónoma de Baja California 2019-02-10 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Technical note Nota técnica application/pdf text/html application/xml https://recit.uabc.mx/index.php/revista/article/view/57 10.37636/recit.v213539 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 No. 1 (2019): January-March; 35-39 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 2 Núm. 1 (2019): Enero-Marzo; 35-39 2594-1925 spa https://recit.uabc.mx/index.php/revista/article/view/57/100 https://recit.uabc.mx/index.php/revista/article/view/57/108 https://recit.uabc.mx/index.php/revista/article/view/57/137 Copyright (c) 2019 Francisco José López Cortés, Sergio Vergara Limón, María Aurora Diozcora Vargas Treviño, Amparo Dora Palomino Merina, David Eduardo Pinto Avedaño, Darnes Vilariño Ayala http://creativecommons.org/licenses/by/4.0
institution RECIT
collection OJS
language spa
format Online
author López Cortés, Francisco José
Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
spellingShingle López Cortés, Francisco José
Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
author_facet López Cortés, Francisco José
Vergara Limón, Sergio
Vargas Treviño, María Aurora Diozcora
Palomino Merina, Amparo Dora
Pinto Avedaño, David Eduardo
Vilariño Ayala, Darnes
author_sort López Cortés, Francisco José
title Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_short Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_full Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_fullStr Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_full_unstemmed Development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
title_sort development of a mechatronic system for humanoid robot that allows to emulate the movement of the neck of human beings
description 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.
publisher Universidad Autónoma de Baja California
publishDate 2019
url https://recit.uabc.mx/index.php/revista/article/view/57
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