Design of the automatic actuation system of a hexapod robot for medical applications
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URI: http://hdl.handle.net/10317/8933Share
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Serrano Montesinos, PedroDirector/a
Almonacid Kroeger, Miguel; Ibarrola Lacalle, Julio José; Baranauskas, VirginijusCenter
Escuela Técnica Superior de Ingeniería IndustrialUniversity
Universidad Politécnica de CartagenaDepartment
Automática, Ingeniería Eléctrica y Tecnología ElectrónicaKnowledge Area
Ingeniería de Sistemas y AutomáticaPublication date
2020Keywords
Tecnología médicaMedical technology
Control automático
Automatic control
Localization
Abstract
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 ...
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