Mathematical Model of a Rotator Type Joint Actuated by Artificial Muscles
- Santiago Zuñiga ,
- Diego Alberto Bravo Montenegro
, - Carlos F. Rengifo
Abstract
In this work, the mathematical model of a muscle-tendon used for the design of a rotator-type joint actuated
by artificial muscles is shown. Computer-aided design (CAD) allows evaluating and validating the most
convenient parameters for its construction; the integration of the CAD model with MATLAB allowed us to
obtain the values of the range of motion ±20◦ and a maximum torque of 6,0 kg-cm exerted on the axis of
rotation for the prototype.
Keywords
Rotary joint, Mathematical model, Artificial muscles, Prototype
Author Biography
Diego Alberto Bravo Montenegro
Profesor Titular Departamento de Física (Universidad del Cauca). Ingeniero Físico (2003), Esp. en Automatización Industrial (2007), Magíster en Ingeniería Automática (2012). Dr en Ciencias de la Electrónica (2016).
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