Rod-driven parallel-continuum robot for high-speed tracking
Continuous parallel robots are controlled by the extrusion of flexible filaments and their main characteristic is their simple and lightweight system, since it has few moving parts and low volume. Among its potential applications there are robotic manipulators, platform structure control, flexible r...
- Autores:
-
Usme Martínez, Santiago
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2025
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/75781
- Acceso en línea:
- https://hdl.handle.net/1992/75781
- Palabra clave:
- Parallel continuum robot
PCR
High speed tracking
Non-linear dynamics
Ingeniería
- Rights
- openAccess
- License
- Attribution-ShareAlike 4.0 International
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| dc.title.none.fl_str_mv |
Rod-driven parallel-continuum robot for high-speed tracking |
| dc.title.alternative.none.fl_str_mv |
High-speed tracking PCR |
| title |
Rod-driven parallel-continuum robot for high-speed tracking |
| spellingShingle |
Rod-driven parallel-continuum robot for high-speed tracking Parallel continuum robot PCR High speed tracking Non-linear dynamics Ingeniería |
| title_short |
Rod-driven parallel-continuum robot for high-speed tracking |
| title_full |
Rod-driven parallel-continuum robot for high-speed tracking |
| title_fullStr |
Rod-driven parallel-continuum robot for high-speed tracking |
| title_full_unstemmed |
Rod-driven parallel-continuum robot for high-speed tracking |
| title_sort |
Rod-driven parallel-continuum robot for high-speed tracking |
| dc.creator.fl_str_mv |
Usme Martínez, Santiago |
| dc.contributor.advisor.none.fl_str_mv |
Camargo Leyva, Jonathan |
| dc.contributor.author.none.fl_str_mv |
Usme Martínez, Santiago |
| dc.subject.keyword.none.fl_str_mv |
Parallel continuum robot PCR High speed tracking Non-linear dynamics |
| topic |
Parallel continuum robot PCR High speed tracking Non-linear dynamics Ingeniería |
| dc.subject.themes.spa.fl_str_mv |
Ingeniería |
| description |
Continuous parallel robots are controlled by the extrusion of flexible filaments and their main characteristic is their simple and lightweight system, since it has few moving parts and low volume. Among its potential applications there are robotic manipulators, platform structure control, flexible robotics, medicine, industrial manufacturing, among others. Given the low mechanical complexity and low weight of these robots, this project was designed with the objective of adding a relative control system at high speeds for tracking moving objects |
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2025 |
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2025-01-29T16:36:22Z |
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2025-01-29T16:36:22Z |
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2025-01-29 |
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Trabajo de grado - Pregrado |
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info:eu-repo/semantics/bachelorThesis |
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https://hdl.handle.net/1992/75781 |
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instname:Universidad de los Andes |
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reponame:Repositorio Institucional Séneca |
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https://hdl.handle.net/1992/75781 |
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instname:Universidad de los Andes reponame:Repositorio Institucional Séneca repourl:https://repositorio.uniandes.edu.co/ |
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eng |
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eng |
| dc.relation.references.none.fl_str_mv |
[1] J. Licona Mármol, Design of a portable control platform for rod-driven continuum parallel robots, Bogotá D.C., Colombia: Universidad de los Andes, 2024. [2] J.-S. FARROKH, A. JALALI y I. D. WALKER, Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial, Toronto, Canada: IEEE Access, 2021. [3] REACH Laboratory, «Parallel Continuum robots,» University of Tennessee, Tennessee, 2023. [4] A. B. Clark, V. Mathivannan y N. Rojas, «A continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development,» Imperial REDS Lab, London, 2021. [5] REACH Robotics Lab, «General Tendon Routing in Continuum Robots,» University of Tennessee, Tennessee, 2014. [6] D. A. A. Vanegas, A CONTINOUS TENDON-DRIVEN DELTA ROBOT - THE DR. OTTO OCTAVIUS PROJECT, Bogotá, Colombia: Universidad de los Andes, 2024. [7] EL EMPAQUE, «Robot paralelo para embalaje y montaje, Quattro,» EL EMPAQUE, 2022. |
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Attribution-ShareAlike 4.0 International |
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35 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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Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autoresAttribution-ShareAlike 4.0 Internationalhttp://creativecommons.org/licenses/by-sa/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Camargo Leyva, Jonathanvirtual::22786-1Usme Martínez, Santiago2025-01-29T16:36:22Z2025-01-29T16:36:22Z2025-01-29https://hdl.handle.net/1992/75781instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/Continuous parallel robots are controlled by the extrusion of flexible filaments and their main characteristic is their simple and lightweight system, since it has few moving parts and low volume. Among its potential applications there are robotic manipulators, platform structure control, flexible robotics, medicine, industrial manufacturing, among others. Given the low mechanical complexity and low weight of these robots, this project was designed with the objective of adding a relative control system at high speeds for tracking moving objectsA parallel continuous robot (PCR) is a device controlled by “tendons” which are usually flexible rods or filaments. By combining all the tensions from each of the tendons, a specific shape or a desired position in the device is achieved. Another valuable ability these devices have is they can get to positions where the end-effector (tip or manipulator`s end) usually cannot go to in other types of robots. This is called redundancy. The quantity and distance between these segments will vary the concavity of the device curves by the bending or tensioning of its tendons. These tendons can vary in diameter and length for different specific desired functions. Normally, robotic manipulators have basic degrees of freedom based on rotations and/or linear movements that simplify the design or the expected work of the robot. In this case, there is a robot with multiple degrees of freedom, most of which are non-linear, which allows for more complex and compound movements to be performed easily. This also implies that changes in the position of the robot can be performed at higher speeds. For this project we seek to implement and/or redesign the prototype developed in Josué Licona's degree project Design of a portable control platform for rod-driven continuum parallel robots [1] to obtain as a result a robot of the same nature that can move a camera and follow objects at high speeds. For this it is also necessary to design an adequate control system (Hardware and software). This project will be developed hand in hand with the degree project of the electronical engineering department Sistema de control para robot continuo paralelo para seguimiento de objetos a altas velocidades by the same author.PregradoParallel Continuum Robots35 páginasapplication/pdfengUniversidad de los AndesIngeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería MecánicaRod-driven parallel-continuum robot for high-speed trackingHigh-speed tracking PCRTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPParallel continuum robotPCRHigh speed trackingNon-linear dynamicsIngeniería[1] J. Licona Mármol, Design of a portable control platform for rod-driven continuum parallel robots, Bogotá D.C., Colombia: Universidad de los Andes, 2024.[2] J.-S. FARROKH, A. JALALI y I. D. WALKER, Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial, Toronto, Canada: IEEE Access, 2021.[3] REACH Laboratory, «Parallel Continuum robots,» University of Tennessee, Tennessee, 2023.[4] A. B. Clark, V. Mathivannan y N. Rojas, «A continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development,» Imperial REDS Lab, London, 2021.[5] REACH Robotics Lab, «General Tendon Routing in Continuum Robots,» University of Tennessee, Tennessee, 2014.[6] D. A. A. Vanegas, A CONTINOUS TENDON-DRIVEN DELTA ROBOT - THE DR. OTTO OCTAVIUS PROJECT, Bogotá, Colombia: Universidad de los Andes, 2024.[7] EL EMPAQUE, «Robot paralelo para embalaje y montaje, Quattro,» EL EMPAQUE, 2022.201822047Publication0bb50162-7add-44a0-8bf0-a4205f5869a5virtual::22786-10bb50162-7add-44a0-8bf0-a4205f5869a5virtual::22786-1https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000018833virtual::22786-1CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-81025https://repositorio.uniandes.edu.co/bitstreams/4653d69f-8a77-48ac-8e84-a6862a94f842/download84a900c9dd4b2a10095a94649e1ce116MD51LICENSElicense.txtlicense.txttext/plain; charset=utf-82535https://repositorio.uniandes.edu.co/bitstreams/913db3fc-5870-4e83-99f7-ad741a4e78fc/downloadae9e573a68e7f92501b6913cc846c39fMD52ORIGINALautorizacion tesis_carta.pdfautorizacion tesis_carta.pdfHIDEapplication/pdf262332https://repositorio.uniandes.edu.co/bitstreams/9d8c2a69-7cff-48a0-9367-d84440ca1f0b/download1551e9c5a57b32818b7c7e295752e6cfMD52Rod-driven 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