Mathematical Model of a Rotator Type Joint Actuated by Artificial Muscles

In this work, the mathematical model of a muscle-tendon used for the design of a rotator-type joint actuatedby artificial muscles is shown. Computer-aided design (CAD) allows evaluating and validating the mostconvenient parameters for its construction; the integration of the CAD model with MATLAB al...

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Bibliographic Details
Main Authors:	Zuñiga, Santiago, Bravo Montenegro, Diego Alberto, Rengifo, Carlos F.
Format:	Online
Language:	spa
Published:	Universidad Pedagógica y Tecnológica de Colombia 2023
Subjects:	Articulación tipo rotoide Modelo matemático Músculos artificiales Prototipo Rotary joint, Mathematical model, Artificial muscles, Prototype
Online Access:	https://revistas.uptc.edu.co/index.php/ciencia_en_desarrollo/article/view/14469

Description
Summary:	In this work, the mathematical model of a muscle-tendon used for the design of a rotator-type joint actuatedby artificial muscles is shown. Computer-aided design (CAD) allows evaluating and validating the mostconvenient parameters for its construction; the integration of the CAD model with MATLAB allowed us toobtain the values of the range of motion ±20◦ and a maximum torque of 6,0 kg-cm exerted on the axis ofrotation for the prototype.