Diseño de la configuración de brazos robóticos vestibles para tareas de instalación y mantenimiento

  1. Álvarez-Pastor, Jesús 1
  2. Martínez-Pascual, David 1
  3. Blanco, Andrea 1
  4. Catalán, Jose María 1
  5. García-Aracil, Nicolás 1
  6. López-Labrador, Francisco 2
  1. 1 Universidad Miguel Hernández de Elche
    info

    Universidad Miguel Hernández de Elche

    Elche, España

    ROR https://ror.org/01azzms13

  2. 2 Eiffage (France)
Revue:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Année de publication: 2024

Volumen: 21

Número: 1

Pages: 62-68

Type: Article

DOI: 10.4995/RIAI.2023.18746 DIALNET GOOGLE SCHOLAR lock_openAccès ouvert editor

D'autres publications dans: Revista iberoamericana de automática e informática industrial ( RIAI )

Résumé

Physical injuries are frequently caused by industrial installation and maintenance tasks such as handling heavy loads, repetitive movements or working in awkward positions. Passive exoskeletons are often used to address this issue. However, the use of supernumerary robotic systems is another approach. This article presents the supernumerary robotic device developed in the SecondArmS project. The results of the initial study of the workspace of the robotic device and the results of the manipulability and singularity analysis of the robotic device are presented. Based on these results, the choice of the wrist of the device between the two alternatives is justified.

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