%0 Journal Article 
%A Serrano Montesinos, Pedro
%T Diseño del sistema de actuación automático de un robot hexápodo para aplicaciones médicas

%D 2020
%U http://hdl.handle.net/10317/8933
%X The initial objective of this end-of-grade work was the development of the TL-Hex hexapod robot
automatic actuation system, designed for medical applications at the "Texas Scottish Rite Hospital
for Children" (TSRHC) in Dallas, Texas, US. However, due to the health crisis suffered due to the
global pandemic by the COVID-19, the objectives of this project were modified, being diverted
towards a work that would provide the necessary information to continue with the development of
the action system in future works.
The initial work plan consisted of analysing the requirements of the actuators, and then studying the
different possible forms of automation; motorising the existing ones while respecting the current
structure of the system, looking for complete adaptable actuators or any other solution that has the
least possible impact from a mechanical point of view. For this automation, the previous
developments made in the end of degree work "Sensorization of a parallel robot for medical
applications", carried out by Laura Valdez Vidal in 2018, would be used. Once the different
possibilities had been studied, experimental tests would be carried out in order to check that the
studies carried out were valid and thus draw conclusions that could meet the objective of this work.
However, after the declaration of the state of alarm that prevented the university from conducting
experimental tests, and the closing of borders that caused the components acquired for the project not
to be received, the project was reoriented in order to be able to add value to the project that was
established with the available material. These subsequent contributions are based on the energy
dimensioning of the system based on the analysis carried out prior to the state of alarm and available
information, the study in terms of regulations because it is a medical product, and the study of the
control system of the motors used in the actuation system.
%K Ingeniería de Sistemas y Automática
%K Tecnología médica
%K Medical technology
%K Control automático
%K Automatic control
%K 3314 Tecnología Médica
%K 1207.02 Sistemas de Control
%~ GOEDOC, SUB GOETTINGEN