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...

Ausführliche Beschreibung

Bibliographische Detailangaben
Hauptverfasser:	Zuñiga, Santiago, Bravo Montenegro, Diego Alberto, Rengifo, Carlos F.
Format:	Online
Sprache:	spa
Veröffentlicht:	Universidad Pedagógica y Tecnológica de Colombia 2023
Schlagworte:	Articulación tipo rotoide Modelo matemático Músculos artificiales Prototipo Rotary joint, Mathematical model, Artificial muscles, Prototype
Online Zugang:	https://revistas.uptc.edu.co/index.php/ciencia_en_desarrollo/article/view/14469

Beschreibung
Zusammenfassung:	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.