Examinando por Autor "Carpio, Marco"

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A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers
(MDPI, 2021-09-30) Carpio, Marco; Saltaren, Roque; Viola, Julio; Gar, Cecilia E.; Guerra, Juan; Cely, Juan S.; Calderon, Cristian
Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. Considering that one of the ways to reduce the risk of contagion is by avoiding contact and closeness between people when exchanging supplies such as food, medicine, clothing, etc., this work proposes the use of a planar cable-driven parallel robot for the transport of supplies in hospitals whose room distribution has planar architecture. The robot acts in accordance with a procedure proposed for each task to be carried out, which includes the process of disinfection (based on Ultraviolet-C light) of the supplies transported inside the robot’s end effector. The study presents a design proposal for the geometry of the planar cable-driven parallel robots and its end effector, as well as the software simulations that allow evaluating the robot’s movement trajectories and the responses of the position control system based on Fuzzy-PID controllers.
Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator
(MDPI, 2018-08-22) Rodriguez-Barroso, Alejandro; Saltaren, Roque; Portilla, Gerardo; Cely, Juan S.; Carpio, Marco
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform’s internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.