Design of a portable control platform for Rod-Driven continuum parallel robots
This project aimed to design and implement a portable, modular, and scalable platform in conjunction with a control system tailored for rod-driven continuum parallel robots. The primary objective was to develop a versatile mounting solution that would facilitate efficient robot movement across diver...
- Autores:
-
Licona Mármol, Josué
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2024
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/74549
- Acceso en línea:
- https://hdl.handle.net/1992/74549
- Palabra clave:
- Parallel robots
Continuum robots
Rod-driven
Platform
Robot
Ingeniería
- Rights
- openAccess
- License
- Attribution 4.0 International
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Design of a portable control platform for Rod-Driven continuum parallel robots |
| title |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| spellingShingle |
Design of a portable control platform for Rod-Driven continuum parallel robots Parallel robots Continuum robots Rod-driven Platform Robot Ingeniería |
| title_short |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| title_full |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| title_fullStr |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| title_full_unstemmed |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| title_sort |
Design of a portable control platform for Rod-Driven continuum parallel robots |
| dc.creator.fl_str_mv |
Licona Mármol, Josué |
| dc.contributor.advisor.none.fl_str_mv |
Camargo Leyva, Jonathan |
| dc.contributor.author.none.fl_str_mv |
Licona Mármol, Josué |
| dc.subject.keyword.eng.fl_str_mv |
Parallel robots Continuum robots Rod-driven Platform Robot |
| topic |
Parallel robots Continuum robots Rod-driven Platform Robot Ingeniería |
| dc.subject.themes.none.fl_str_mv |
Ingeniería |
| description |
This project aimed to design and implement a portable, modular, and scalable platform in conjunction with a control system tailored for rod-driven continuum parallel robots. The primary objective was to develop a versatile mounting solution that would facilitate efficient robot movement across diverse applications. The project involved the design and construction of the mounting platform, as well as the development of the control interface. A rod-driven continuum parallel robot was designed and implemented, with a focus on miniaturization and enhancement of the structure. Furthermore, the project aimed to implement a customized language specification for programming the linear actuators, enabling tailored control and operational flexibility. Additionally, an application was developed to interface with the control system, utilizing the created protocol to ensure seamless communication and precise control. |
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2024 |
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2024-07-16T13:43:13Z |
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2024-07-16T13:43:13Z |
| dc.date.issued.none.fl_str_mv |
2024-07-15 |
| dc.type.none.fl_str_mv |
Trabajo de grado - Pregrado |
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info:eu-repo/semantics/bachelorThesis |
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info:eu-repo/semantics/acceptedVersion |
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Text |
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https://hdl.handle.net/1992/74549 |
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instname:Universidad de los Andes |
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reponame:Repositorio Institucional Séneca |
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repourl:https://repositorio.uniandes.edu.co/ |
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https://hdl.handle.net/1992/74549 |
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instname:Universidad de los Andes reponame:Repositorio Institucional Séneca repourl:https://repositorio.uniandes.edu.co/ |
| dc.language.iso.none.fl_str_mv |
eng |
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eng |
| dc.relation.references.none.fl_str_mv |
Z. Shao, D. Zhang, and S. Caro, “New frontiers in parallel robots,” Machines, vol. 11, no. 3, 2023, issn: 2075-1702. doi: 10.3390/machines11030386. D. Stewart, “A platform with six degrees of freedom,” Proceedings of the Institution of Mechanical Engineers, vol. 180, no. 1, pp. 371–386, 1965. doi: 10.1243/PIME_PROC_1965_180_029_02. E. News. “The delta robot – swiss-made and fastest in the world!” (), [Online]. Available: https://actu.epfl.ch/news/the-delta-robot-swiss-madeand-fastest-in-the-worl/ (visited on 06/14/2024). S. Briot and J. Burgner-Kahrs, “Editorial: New frontiers in parallel robotics,” Frontiers in Robotics and AI, vol. 10, 2023, issn: 2296-9144. doi: 10.3389/frobt.2023.1282798. M. Russo, S. M. H. Sadati, X. Dong, et al., “Continuum robots: An overview,” Advanced Intelligent Systems, vol. 5, no. 5, p. 2 200 367, 2023. doi: https://doi.org/10.1002/aisy.202200367. G. Wu and G. Shi, “Design, modeling, and workspace analysis of an extensible rod-driven parallel continuum robot,” Mechanism and Machine Theory, vol. 172, p. 104 798, 2022, issn: 0094-114X. doi: https://doi.org/10.1016/j.mechmachtheory.2022.104798. A. L. Orekhov, V. A. Aloi, and D. C. Rucker, “Modeling parallel continuum robots with general intermediate constraints,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 6142–6149. doi: 10.1109/ICRA.2017.7989728. |
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Attribution 4.0 International |
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http://creativecommons.org/licenses/by/4.0/ |
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info:eu-repo/semantics/openAccess |
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77 páginas |
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application/pdf |
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Universidad de los Andes |
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Ingeniería Mecánica |
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Facultad de Ingeniería |
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Departamento de Ingeniería Mecánica |
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Universidad de los Andes |
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Universidad de los Andes |
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Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autoresAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Camargo Leyva, Jonathanvirtual::18916-1Licona Mármol, Josué2024-07-16T13:43:13Z2024-07-16T13:43:13Z2024-07-15https://hdl.handle.net/1992/74549instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/This project aimed to design and implement a portable, modular, and scalable platform in conjunction with a control system tailored for rod-driven continuum parallel robots. The primary objective was to develop a versatile mounting solution that would facilitate efficient robot movement across diverse applications. The project involved the design and construction of the mounting platform, as well as the development of the control interface. A rod-driven continuum parallel robot was designed and implemented, with a focus on miniaturization and enhancement of the structure. Furthermore, the project aimed to implement a customized language specification for programming the linear actuators, enabling tailored control and operational flexibility. Additionally, an application was developed to interface with the control system, utilizing the created protocol to ensure seamless communication and precise control.Pregrado77 páginasapplication/pdfengUniversidad de los AndesIngeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería MecánicaDesign of a portable control platform for Rod-Driven continuum parallel robotsTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPParallel robotsContinuum robotsRod-drivenPlatformRobotIngenieríaZ. Shao, D. Zhang, and S. Caro, “New frontiers in parallel robots,” Machines, vol. 11, no. 3, 2023, issn: 2075-1702. doi: 10.3390/machines11030386.D. Stewart, “A platform with six degrees of freedom,” Proceedings of the Institution of Mechanical Engineers, vol. 180, no. 1, pp. 371–386, 1965. doi: 10.1243/PIME_PROC_1965_180_029_02.E. News. “The delta robot – swiss-made and fastest in the world!” (), [Online]. Available: https://actu.epfl.ch/news/the-delta-robot-swiss-madeand-fastest-in-the-worl/ (visited on 06/14/2024).S. Briot and J. Burgner-Kahrs, “Editorial: New frontiers in parallel robotics,” Frontiers in Robotics and AI, vol. 10, 2023, issn: 2296-9144. doi: 10.3389/frobt.2023.1282798.M. Russo, S. M. H. Sadati, X. Dong, et al., “Continuum robots: An overview,” Advanced Intelligent Systems, vol. 5, no. 5, p. 2 200 367, 2023. doi: https://doi.org/10.1002/aisy.202200367.G. Wu and G. Shi, “Design, modeling, and workspace analysis of an extensible rod-driven parallel continuum robot,” Mechanism and Machine Theory, vol. 172, p. 104 798, 2022, issn: 0094-114X. doi: https://doi.org/10.1016/j.mechmachtheory.2022.104798.A. L. Orekhov, V. A. Aloi, and D. C. 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