Manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales

R. Suárez, L. Palomo-Avellaneda, J. Martínez, D. Clos, N. García

Resumen

Este artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de Mobile Anthropomorphic Dual-Arm Robot). Básicamente puede dividirse en dos partes, una base móvil y una estructura superior portando dos brazos en configuración antropomorfa con manos mecánicas diestras equipadas con sensores táctiles. La base, completamente de desarrollo propio, es de forma circular y tiene tres ruedas con un diseño novedoso que permiten una movilidad omnidireccional. La estructura superior integra elementos comerciales, como los brazos, las manos y distintos sensores, que han sido adaptados para su funcionamiento conjunto. El artículo incluye tanto la descripción de los principales elementos del hardware como del software desarrollado para su control y uso.


Palabras clave

Robótica y sistemas robotizados; Robótica industrial y manipuladores robóticos; Manipuladores móviles; Manipuladores diestros

Clasificación por materias

50. Robótica y sistemas robotizados; 50.10 Robótica industrial y manipuladores robóticos; 50.11 Robots móviles y vehículos autónomos inteligentes

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