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...

ver descrição completa

Detalhes bibliográficos
Main Authors:	Zuñiga, Santiago, Bravo Montenegro, Diego Alberto, Rengifo, Carlos F.
Formato:	Online
Idioma:	spa
Publicado em:	Universidad Pedagógica y Tecnológica de Colombia 2023
Assuntos:	Articulación tipo rotoide Modelo matemático Músculos artificiales Prototipo Rotary joint, Mathematical model, Artificial muscles, Prototype
Acesso em linha:	https://revistas.uptc.edu.co/index.php/ciencia_en_desarrollo/article/view/14469

Descrição
Resumo:	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.