Publicação
Design and modelling of a modular robotic joint
| Resumo: | The industry tends to increasingly automate as many processes as possible, and to make this possible, they often resort to the use of robotic arms. This paper presents the development of a proposal for a modular joint for robotic arms that allows: to obtain the best possible torque/weight ratio; to be controlled in speed and/or position; to communicate with other joints and external microcontrollers; to keep the cost as low as possible; and to be easily reconfigurable. The proposed prototype was validated with real results. |
|---|---|
| Autores principais: | Rocha, Marco |
| Outros Autores: | Pinto, Vítor H.; Lima, José; Costa, Paulo Gomes da |
| Assunto: | Manipulator Modular joint Gearbox Error control |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867173245971595264 |
|---|---|
| author | Rocha, Marco |
| author2 | Pinto, Vítor H. Lima, José Costa, Paulo Gomes da |
| author2_role | author author author |
| author_facet | Rocha, Marco Pinto, Vítor H. Lima, José Costa, Paulo Gomes da |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Rocha, Marco\"},{\"Person.name\":\"Pinto, Vítor H.\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"},{\"Person.name\":\"Costa, Paulo Gomes da\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Rocha, Marco Pinto, Vítor H. Lima, José Costa, Paulo Gomes da |
| datacite.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2021-09-28T08:57:38Z |
| datacite.date.embargoed.fl_str_mv | 2021-09-28T08:57:38Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| datacite.subjects.subject.fl_str_mv | Manipulator Modular joint Gearbox Error control |
| datacite.titles.title.fl_str_mv | Design and modelling of a modular robotic joint |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Rocha, Marco Pinto, Vítor H. Lima, José Costa, Paulo Gomes da |
| dc.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2021-09-28T08:57:38Z |
| dc.date.embargoed.fl_str_mv | 2021-09-28T08:57:38Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/23935 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| dc.subject.none.fl_str_mv | Manipulator Modular joint Gearbox Error control |
| dc.title.fl_str_mv | Design and modelling of a modular robotic joint |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | The industry tends to increasingly automate as many processes as possible, and to make this possible, they often resort to the use of robotic arms. This paper presents the development of a proposal for a modular joint for robotic arms that allows: to obtain the best possible torque/weight ratio; to be controlled in speed and/or position; to communicate with other joints and external microcontrollers; to keep the cost as low as possible; and to be easily reconfigurable. The proposed prototype was validated with real results. |
| dirty | 0 |
| eu_rights_str_mv | restrictedAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/a63f86b9-ecb0-4c02-a32f-9f15f6ee6c01/download |
| funding.funder.alternateName_str_mv | FCT |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100001871 |
| funding.funder.name_str_mv | Fundação para a Ciência e a Tecnologia |
| funding.name_str_mv | 6817 - DCRRNI ID |
| id | ipb_63cfdf42ed0f86cdbef4956bea3eff6a |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/23935 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/23935 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Rocha, Marco Pinto, Vítor H. Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Costa, Paulo Gomes da |
| publishDate | 2022 |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engpt_PTThe industry tends to increasingly automate as many processes as possible, and to make this possible, they often resort to the use of robotic arms. This paper presents the development of a proposal for a modular joint for robotic arms that allows: to obtain the best possible torque/weight ratio; to be controlled in speed and/or position; to communicate with other joints and external microcontrollers; to keep the cost as low as possible; and to be easily reconfigurable. The proposed prototype was validated with real results.application/pdfpt_PTDesign and modelling of a modular robotic jointRocha, MarcoPinto, Vítor H.PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311Costa, Paulo Gomes daHostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptDOIIsPartOf10.1007/978-3-030-86294-7_82021-09-28T08:57:38Z20222022-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/23935http://purl.org/coar/access_right/c_16ecrestricted accessManipulatorModular jointGearboxError control3000616 bytesFundação para a Ciência e a TecnologiaINESC TEC- Institute for Systems and Computer Engineering, Technology and Science6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871other research producthttp://purl.org/coar/resource_type/c_5794conference paper2022http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_16ecapplication/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/a63f86b9-ecb0-4c02-a32f-9f15f6ee6c01/download24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 20213248192 |
| spellingShingle | Design and modelling of a modular robotic joint Rocha, Marco Manipulator Modular joint Gearbox Error control |
| status | SINGLETON |
| subject.fl_str_mv | Manipulator Modular joint Gearbox Error control |
| title | Design and modelling of a modular robotic joint |
| title_full | Design and modelling of a modular robotic joint |
| title_fullStr | Design and modelling of a modular robotic joint |
| title_full_unstemmed | Design and modelling of a modular robotic joint |
| title_short | Design and modelling of a modular robotic joint |
| title_sort | Design and modelling of a modular robotic joint |
| topic | Manipulator Modular joint Gearbox Error control |
| topic_facet | Manipulator Modular joint Gearbox Error control |
| url | http://hdl.handle.net/10198/23935 |
| visible | 1 |