covid
Buscar en
Journal of Applied Research and Technology. JART
Toda la web
Inicio Journal of Applied Research and Technology. JART Design and Construction of a Didactic 3-DOF Parallel Links Robot Station with a ...
Journal Information

Statistics

Follow this link to access the full text of the article

Design and Construction of a Didactic 3-DOF Parallel Links Robot Station with a 1-DOF Gripper
A. Gómez-Espinosa1, P.D. Lafuente-Ramón2, C. Rebollar-Huerta3, M.A. Hernández-Maldonado4, E.H. Olguín-Callejas5, H. Jiménez-Hernández6, E.A. Rivas-Araiza7, J. Rodríguez-Reséndiz8
1,6 Centro de Ingeniería y Desarrollo Industrial, Dirección de Investigación y Posgrado. Av. Playa Pie de la Cuesta No. 702. Desarrollo San Pablo, C.P. 76130 Santiago de Querétaro, Qro., México.
2,3,4,5 Instituto Tecnológico y de Estudios Superiores de Monterrey, Departamento de Mecatrónica, Campus Querétaro. Av. Epigmenio González No. 500. Fracc. San Pablo, C.P. 76130 Santiago de Querétaro, Qro., México.
7,8 Universidad Autónoma de Querétaro, División de Estudios de Posgrado, Facultad de Ingeniería. Cerro de las Campanas s/n, C.P. 76010, Santiago de Querétaro, Qro., México.
Read
8344
Times
was read the article
1182
Total PDF
7162
Total HTML
Share statistics
 array:23 [
  "pii" => "S1665642314716244"
  "issn" => "16656423"
  "doi" => "10.1016/S1665-6423(14)71624-4"
  "estado" => "S300"
  "fechaPublicacion" => "2014-06-01"
  "aid" => "71624"
  "copyright" => "Universidad Nacional Autónoma de México"
  "copyrightAnyo" => "2014"
  "documento" => "article"
  "licencia" => "http://creativecommons.org/licenses/by-nc-nd/4.0/"
  "subdocumento" => "fla"
  "cita" => "Journal of Applied Research and Technology. 2014;12:435-43"
  "abierto" => array:3 [
    "ES" => true
    "ES2" => true
    "LATM" => true
  ]
  "gratuito" => true
  "lecturas" => array:2 [
    "total" => 2268
    "formatos" => array:3 [
      "EPUB" => 49
      "HTML" => 1836
      "PDF" => 383
    ]
  ]
  "itemSiguiente" => array:18 [
    "pii" => "S1665642314716256"
    "issn" => "16656423"
    "doi" => "10.1016/S1665-6423(14)71625-6"
    "estado" => "S300"
    "fechaPublicacion" => "2014-06-01"
    "aid" => "71625"
    "copyright" => "Universidad Nacional Autónoma de México"
    "documento" => "article"
    "licencia" => "http://creativecommons.org/licenses/by-nc-nd/4.0/"
    "subdocumento" => "fla"
    "cita" => "Journal of Applied Research and Technology. 2014;12:444-58"
    "abierto" => array:3 [
      "ES" => true
      "ES2" => true
      "LATM" => true
    ]
    "gratuito" => true
    "lecturas" => array:2 [
      "total" => 3829
      "formatos" => array:3 [
        "EPUB" => 44
        "HTML" => 2876
        "PDF" => 909
      ]
    ]
    "en" => array:11 [
      "idiomaDefecto" => true
      "titulo" => "A Collaborative Supply Chain Management System for a Maritime Port Logistics Chain"
      "tienePdf" => "en"
      "tieneTextoCompleto" => "en"
      "tieneResumen" => array:2 [
        0 => "en"
        1 => "es"
      ]
      "paginas" => array:1 [
        0 => array:2 [
          "paginaInicial" => "444"
          "paginaFinal" => "458"
        ]
      ]
      "contieneResumen" => array:2 [
        "en" => true
        "es" => true
      ]
      "contieneTextoCompleto" => array:1 [
        "en" => true
      ]
      "contienePdf" => array:1 [
        "en" => true
      ]
      "resumenGrafico" => array:2 [
        "original" => 0
        "multimedia" => array:7 [
          "identificador" => "fig0015"
          "etiqueta" => "Figure 3"
          "tipo" => "MULTIMEDIAFIGURA"
          "mostrarFloat" => true
          "mostrarDisplay" => false
          "figura" => array:1 [
            0 => array:4 [
              "imagen" => "gr3.jpeg"
              "Alto" => 648
              "Ancho" => 832
              "Tamanyo" => 92657
            ]
          ]
          "descripcion" => array:1 [
            "en" => "<p id="spar0025" class="elsevierStyleSimplePara elsevierViewall">Collaborative Activities Cycles of the PLC&#46;</p>"
          ]
        ]
      ]
      "autores" => array:1 [
        0 => array:2 [
          "autoresLista" => "L&#46;M&#46; Ascencio, R&#46;G&#46; Gonz&#225;lez-Ram&#237;rez, L&#46;A&#46; Bearzotti, N&#46;R&#46; Smith, J&#46;F&#46; Camacho-Vallejo"
          "autores" => array:5 [
            0 => array:2 [
              "nombre" => "L&#46;M&#46;"
              "apellidos" => "Ascencio"
            ]
            1 => array:2 [
              "nombre" => "R&#46;G&#46;"
              "apellidos" => "Gonz&#225;lez-Ram&#237;rez"
            ]
            2 => array:2 [
              "nombre" => "L&#46;A&#46;"
              "apellidos" => "Bearzotti"
            ]
            3 => array:2 [
              "nombre" => "N&#46;R&#46;"
              "apellidos" => "Smith"
            ]
            4 => array:2 [
              "nombre" => "J&#46;F&#46;"
              "apellidos" => "Camacho-Vallejo"
            ]
          ]
        ]
      ]
    ]
    "idiomaDefecto" => "en"
    "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1665642314716256?idApp=UINPBA00004N"
    "url" => "/16656423/0000001200000003/v2_201505081651/S1665642314716256/v2_201505081651/en/main.assets"
  ]
  "itemAnterior" => array:18 [
    "pii" => "S1665642314716232"
    "issn" => "16656423"
    "doi" => "10.1016/S1665-6423(14)71623-2"
    "estado" => "S300"
    "fechaPublicacion" => "2014-06-01"
    "aid" => "71623"
    "copyright" => "Universidad Nacional Aut&#243;noma de M&#233;xico"
    "documento" => "article"
    "licencia" => "http://creativecommons.org/licenses/by-nc-nd/4.0/"
    "subdocumento" => "fla"
    "cita" => "Journal of Applied Research and Technology. 2014;12:422-34"
    "abierto" => array:3 [
      "ES" => true
      "ES2" => true
      "LATM" => true
    ]
    "gratuito" => true
    "lecturas" => array:2 [
      "total" => 742
      "formatos" => array:3 [
        "EPUB" => 30
        "HTML" => 311
        "PDF" => 401
      ]
    ]
    "en" => array:11 [
      "idiomaDefecto" => true
      "titulo" => "Estimation of the State and the Unknown Inputs of a Multimodel with non Measurable Decision Variables"
      "tienePdf" => "en"
      "tieneTextoCompleto" => "en"
      "tieneResumen" => array:2 [
        0 => "en"
        1 => "es"
      ]
      "paginas" => array:1 [
        0 => array:2 [
          "paginaInicial" => "422"
          "paginaFinal" => "434"
        ]
      ]
      "contieneResumen" => array:2 [
        "en" => true
        "es" => true
      ]
      "contieneTextoCompleto" => array:1 [
        "en" => true
      ]
      "contienePdf" => array:1 [
        "en" => true
      ]
      "resumenGrafico" => array:2 [
        "original" => 0
        "multimedia" => array:7 [
          "identificador" => "fig0025"
          "etiqueta" => "Figure 5"
          "tipo" => "MULTIMEDIAFIGURA"
          "mostrarFloat" => true
          "mostrarDisplay" => false
          "figura" => array:1 [
            0 => array:4 [
              "imagen" => "gr5.jpeg"
              "Alto" => 624
              "Ancho" => 800
              "Tamanyo" => 41683
            ]
          ]
          "descripcion" => array:1 [
            "en" => "<p id="spar0035" class="elsevierStyleSimplePara elsevierViewall">Evolution of <span class="elsevierStyleItalic">U and</span>U&#175;&#46;</p>"
          ]
        ]
      ]
      "autores" => array:1 [
        0 => array:2 [
          "autoresLista" => "E&#46; Maherzi, M&#46; Besbes, S&#46; Zemmel, A&#46; Mami"
          "autores" => array:4 [
            0 => array:2 [
              "nombre" => "E&#46;"
              "apellidos" => "Maherzi"
            ]
            1 => array:2 [
              "nombre" => "M&#46;"
              "apellidos" => "Besbes"
            ]
            2 => array:2 [
              "nombre" => "S&#46;"
              "apellidos" => "Zemmel"
            ]
            3 => array:2 [
              "nombre" => "A&#46;"
              "apellidos" => "Mami"
            ]
          ]
        ]
      ]
    ]
    "idiomaDefecto" => "en"
    "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1665642314716232?idApp=UINPBA00004N"
    "url" => "/16656423/0000001200000003/v2_201505081651/S1665642314716232/v2_201505081651/en/main.assets"
  ]
  "en" => array:16 [
    "idiomaDefecto" => true
    "titulo" => "Design and Construction of a Didactic 3-DOF Parallel Links Robot Station with a 1-DOF Gripper"
    "tieneTextoCompleto" => true
    "paginas" => array:1 [
      0 => array:2 [
        "paginaInicial" => "435"
        "paginaFinal" => "443"
      ]
    ]
    "autores" => array:1 [
      0 => array:3 [
        "autoresLista" => "A&#46; G&#243;mez-Espinosa, P&#46;D&#46; Lafuente-Ram&#243;n, C&#46; Rebollar-Huerta, M&#46;A&#46; Hern&#225;ndez-Maldonado, E&#46;H&#46; Olgu&#237;n-Callejas, H&#46; Jim&#233;nez-Hern&#225;ndez, E&#46;A&#46; Rivas-Araiza, J&#46; Rodr&#237;guez-Res&#233;ndiz"
        "autores" => array:8 [
          0 => array:4 [
            "nombre" => "A&#46;"
            "apellidos" => "G&#243;mez-Espinosa"
            "email" => array:1 [
              0 => "agomez&#64;cidesi&#46;mx"
            ]
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">1</span>"
                "identificador" => "aff0005"
              ]
            ]
          ]
          1 => array:3 [
            "nombre" => "P&#46;D&#46;"
            "apellidos" => "Lafuente-Ram&#243;n"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">2</span>"
                "identificador" => "aff0010"
              ]
            ]
          ]
          2 => array:3 [
            "nombre" => "C&#46;"
            "apellidos" => "Rebollar-Huerta"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">3</span>"
                "identificador" => "aff0010"
              ]
            ]
          ]
          3 => array:3 [
            "nombre" => "M&#46;A&#46;"
            "apellidos" => "Hern&#225;ndez-Maldonado"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">4</span>"
                "identificador" => "aff0010"
              ]
            ]
          ]
          4 => array:3 [
            "nombre" => "E&#46;H&#46;"
            "apellidos" => "Olgu&#237;n-Callejas"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">5</span>"
                "identificador" => "aff0010"
              ]
            ]
          ]
          5 => array:3 [
            "nombre" => "H&#46;"
            "apellidos" => "Jim&#233;nez-Hern&#225;ndez"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">6</span>"
                "identificador" => "aff0005"
              ]
            ]
          ]
          6 => array:3 [
            "nombre" => "E&#46;A&#46;"
            "apellidos" => "Rivas-Araiza"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">7</span>"
                "identificador" => "aff0015"
              ]
            ]
          ]
          7 => array:3 [
            "nombre" => "J&#46;"
            "apellidos" => "Rodr&#237;guez-Res&#233;ndiz"
            "referencia" => array:1 [
              0 => array:2 [
                "etiqueta" => "<span class="elsevierStyleSup">8</span>"
                "identificador" => "aff0015"
              ]
            ]
          ]
        ]
        "afiliaciones" => array:3 [
          0 => array:3 [
            "entidad" => "Centro de Ingenier&#237;a y Desarrollo Industrial&#44; Direcci&#243;n de Investigaci&#243;n y Posgrado&#46; Av&#46; Playa Pie de la Cuesta No&#46; 702&#46; Desarrollo San Pablo&#44; C&#46;P&#46; 76130 Santiago de Quer&#233;taro&#44; Qro&#46;&#44; M&#233;xico&#46;"
            "etiqueta" => "1&#44;6"
            "identificador" => "aff0005"
          ]
          1 => array:3 [
            "entidad" => "Instituto Tecnol&#243;gico y de Estudios Superiores de Monterrey&#44; Departamento de Mecatr&#243;nica&#44; Campus Quer&#233;taro&#46; Av&#46; Epigmenio Gonz&#225;lez No&#46; 500&#46; Fracc&#46; San Pablo&#44; C&#46;P&#46; 76130 Santiago de Quer&#233;taro&#44; Qro&#46;&#44; M&#233;xico&#46;"
            "etiqueta" => "2&#44;3&#44;4&#44;5"
            "identificador" => "aff0010"
          ]
          2 => array:3 [
            "entidad" => "Universidad Aut&#243;noma de Quer&#233;taro&#44; Divisi&#243;n de Estudios de Posgrado&#44; Facultad de Ingenier&#237;a&#46; Cerro de las Campanas s&#47;n&#44; C&#46;P&#46; 76010&#44; Santiago de Quer&#233;taro&#44; Qro&#46;&#44; M&#233;xico&#46;"
            "etiqueta" => "7&#44;8"
            "identificador" => "aff0015"
          ]
        ]
      ]
    ]
    "resumenGrafico" => array:2 [
      "original" => 0
      "multimedia" => array:7 [
        "identificador" => "fig0045"
        "etiqueta" => "Figure 9"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr9.jpeg"
            "Alto" => 688
            "Ancho" => 960
            "Tamanyo" => 98828
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0060" class="elsevierStyleSimplePara elsevierViewall">Example of two robot prototypes&#46;</p>"
        ]
      ]
    ]
    "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">1</span><span class="elsevierStyleSectionTitle" id="sect0020"><a name="p436"></a>Introduction</span><p id="par0005" class="elsevierStylePara elsevierViewall">For students to gain experience integrating different mechatronic fields of knowledge&#44; the methodology presented in some papers can be used for mechanical design &#91;<a class="elsevierStyleCrossRef" href="#bib0005">1</a>&#93; &#91;<a class="elsevierStyleCrossRef" href="#bib0010">2</a>&#93;&#44; electronic design &#91;<a class="elsevierStyleCrossRef" href="#bib0015">3</a>&#93; &#91;<a class="elsevierStyleCrossRef" href="#bib0020">4</a>&#93;&#44; or power electronic for motion control &#91;<a class="elsevierStyleCrossRef" href="#bib0025">5</a>&#93; &#91;<a class="elsevierStyleCrossRef" href="#bib0030">6</a>&#93;&#44; or control algorithm implementation &#91;<a class="elsevierStyleCrossRef" href="#bib0035">7</a>&#93; &#91;<a class="elsevierStyleCrossRef" href="#bib0040">8</a>&#93;&#59; unfortunately we didn&#8217;t found suitable projects&#44; for a complete Mechatronic system that can be developed in a one semester course&#44; for the last semesters undergrad or graduated students&#46;</p><p id="par0010" class="elsevierStylePara elsevierViewall">In order to design and manufacture a functional robotic system&#44; a student should be capable of understanding&#44; analyzing and synthesizing different concepts that deal with basic sciences&#44; mechanics&#44; electronics&#44; control theory and programming&#44; that is a long way to go for any undergrad or graduated student&#46; If one is meant to implement a self-built working design the first option is to take several months or even years of study to acquire all this knowledge&#46; A second option would be to buy a market available robotic kit&#44; usually being the main disadvantages of this option the limited possibilities for experimenting with robotic architectures and the high price one has to pay for the materials&#8217; supply chain plus the intellectual property&#44; marketing and engineering hours of the company that puts the pieces together&#46;</p><p id="par0015" class="elsevierStylePara elsevierViewall">A third option is to be presented here&#44; however this is not effortless at all&#46; The student should have to get all the needed materials and apply some knowledge as well&#44; but at the end it will be cheaper and more flexible than buying a robotic kit and easier than designing everything from scratch&#44; so it can be considered as an intermediate alternative to make a working self-built mechatronic system&#46;</p><p id="par0020" class="elsevierStylePara elsevierViewall">The remaining sections of this paper present the development of a robot station according to the following methodology&#58;<ul class="elsevierStyleList" id="lis0005"><li class="elsevierStyleListItem" id="lsti0005"><span class="elsevierStyleLabel">-</span><p id="par0025" class="elsevierStylePara elsevierViewall">Project objectives are stated by specifying the target requirement to be achieved by the manipulator&#46; These objectives are defined following the Project Management Institute &#40;PMI&#41; recommendations&#44; and should be considered for all the design and manufacturing processes&#44; taking them into account for consideration if any change is made and verified during final acceptant test phase&#46;</p></li><li class="elsevierStyleListItem" id="lsti0010"><span class="elsevierStyleLabel">-</span><p id="par0030" class="elsevierStylePara elsevierViewall">A set of selected materials are presented and additional materials such as screws and round head pins may be incorporated by the students&#46;</p></li><li class="elsevierStyleListItem" id="lsti0015"><span class="elsevierStyleLabel">-</span><p id="par0035" class="elsevierStylePara elsevierViewall">Functionality for each subsystem is revised and some implementation techniques are discussed&#46; For an industrial approach it is required that the prototype can be disassembled to allow joints &#40;bearing and motors&#41; to be serviced or repaired when it is needed&#46;</p></li><li class="elsevierStyleListItem" id="lsti0020"><span class="elsevierStyleLabel">-</span><p id="par0040" class="elsevierStylePara elsevierViewall">The students select a CAD software to be used for the mechanical design&#59; by using it the dimensions of the different links are defined and modified in order to meet the prototype specifications&#46; The mechanical design starts with the arms of the robot&#44; focusing on the dimensions of its links&#46; Once the arms are designed the base should be planned to provide stability and support&#46;</p></li><li class="elsevierStyleListItem" id="lsti0025"><span class="elsevierStyleLabel">-</span><p id="par0045" class="elsevierStylePara elsevierViewall">After pieces are designed and verified in the 3D environment&#44; 2D engineering descriptive drawings are created&#46; The pieces can be hand cut or machined depending on the selected production-processes and available facilities&#46;</p></li><li class="elsevierStyleListItem" id="lsti0030"><span class="elsevierStyleLabel">-</span><p id="par0050" class="elsevierStylePara elsevierViewall">Several assembly processes are used to put the pieces together&#44; including creating holes where screws are required and attaching some components by pressure or epoxy gluing&#46;</p></li><li class="elsevierStyleListItem" id="lsti0035"><span class="elsevierStyleLabel">-</span><p id="par0055" class="elsevierStylePara elsevierViewall">The electrical design is performed to specify the power supply&#44; PCB and required wiring&#44; and then the electrical system is implemented&#46;</p></li><li class="elsevierStyleListItem" id="lsti0040"><span class="elsevierStyleLabel">-</span><p id="par0060" class="elsevierStylePara elsevierViewall">&#46;The control board &#40;Arduino platform&#41; is programed to control the prototype robot&#44; and the programing can be further developed for more challenging applications in accordance to the specific objectives of the course&#46;</p></li><li class="elsevierStyleListItem" id="lsti0045"><span class="elsevierStyleLabel">-</span><p id="par0065" class="elsevierStylePara elsevierViewall">The final acceptant tests of the robot station are accomplished to verify its performance&#46;<a name="p437"></a></p></li></ul></p></span><span id="sec0010" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2</span><span class="elsevierStyleSectionTitle" id="sect0025">System specification</span><span id="sec0015" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2&#46;1</span><span class="elsevierStyleSectionTitle" id="sect0030">System Target Requirements</span><p id="par0070" class="elsevierStylePara elsevierViewall">As an example of some target requirements to be achieved by the manipulator&#44; it should be able to&#58;<ul class="elsevierStyleList" id="lis0010"><li class="elsevierStyleListItem" id="lsti0050"><span class="elsevierStyleLabel">-</span><p id="par0075" class="elsevierStylePara elsevierViewall">Reach any object at least 40 cm from the servomotor axis&#46;</p></li><li class="elsevierStyleListItem" id="lsti0055"><span class="elsevierStyleLabel">-</span><p id="par0080" class="elsevierStylePara elsevierViewall">Achieve a precision of &#177;0&#46;5 cm for repetitive movements&#46;</p></li><li class="elsevierStyleListItem" id="lsti0060"><span class="elsevierStyleLabel">-</span><p id="par0085" class="elsevierStylePara elsevierViewall">Be able to lift at least 10&#37; of its own weight&#44; not considering power supplies&#46;</p></li><li class="elsevierStyleListItem" id="lsti0065"><span class="elsevierStyleLabel">-</span><p id="par0090" class="elsevierStylePara elsevierViewall">Maximum time of 3 seconds to get from any position A&#40;x&#44;y&#44;z&#41; to any position B&#40;x&#44;y&#44;z&#41;&#46;</p></li><li class="elsevierStyleListItem" id="lsti0070"><span class="elsevierStyleLabel">-</span><p id="par0095" class="elsevierStylePara elsevierViewall">Variable speed control for the movements&#46;</p></li><li class="elsevierStyleListItem" id="lsti0075"><span class="elsevierStyleLabel">-</span><p id="par0100" class="elsevierStylePara elsevierViewall">3DOF plus a 1 DOF gripper to lift the specified weight&#46;</p></li><li class="elsevierStyleListItem" id="lsti0080"><span class="elsevierStyleLabel">-</span><p id="par0105" class="elsevierStylePara elsevierViewall">Manipulator should be designed to allow for servomotors and bearings to be disassembled for service or replacement&#46;</p></li></ul></p><p id="par0110" class="elsevierStylePara elsevierViewall">These requirements are considered in all the design and manufacture process&#44; taking them into account for negotiation if any change is to be made and verified during final acceptant test phase&#46;</p></span><span id="sec0020" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2&#46;2</span><span class="elsevierStyleSectionTitle" id="sect0035">Materials</span><p id="par0115" class="elsevierStylePara elsevierViewall">The main selected materials for the proposed platform are listed in <a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a> and shown in <a class="elsevierStyleCrossRef" href="#fig0005">Figure 1</a>&#58;</p><elsevierMultimedia ident="tbl0005"></elsevierMultimedia><elsevierMultimedia ident="fig0005"></elsevierMultimedia></span><span id="sec0025" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">2&#46;3</span><span class="elsevierStyleSectionTitle" id="sect0040">General description and sub-assemblies</span><p id="par0120" class="elsevierStylePara elsevierViewall">The robot is integrated by the following main sub-assemblies shown in <a class="elsevierStyleCrossRef" href="#fig0010">Figure 2</a>&#59; dimensions are only shown as an example and they should be determined by the student during the mechanical design phase&#58;</p><elsevierMultimedia ident="fig0010"></elsevierMultimedia><span id="sec0030" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0045">Base</span><p id="par0125" class="elsevierStylePara elsevierViewall">The function of the base is to give support and stability to the robot station&#59; it also holds the servo motor to spin the robot in the Z axis&#46; It should be designed to maximize the contact area with the floor and minimizing its weight&#46;</p></span><span id="sec0035" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0050">Rotating Bearing table</span><p id="par0130" class="elsevierStylePara elsevierViewall">The rotating bearing table is intended to allow the free rotation of the main body of the robot by minimizing the friction and supporting the weight of the motor base&#44; motors&#44; links and gripper&#44; resembling the rotating mechanisms in industrial robots&#46;<a name="p438"></a></p></span><span id="sec0040" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0055">Motors base</span><p id="par0135" class="elsevierStylePara elsevierViewall">This subassembly is very important and will usually take the longest time to design and improve&#46; The motors are supported here&#44; requiring design and manufacture precision for the alignment of the motor shafts and the distance between the motors&#46; It is attached to the rotating bearing table&#46;</p></span><span id="sec0045" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0060">Robot arm &#40;links&#41;</span><p id="par0140" class="elsevierStylePara elsevierViewall">The links should be designed in order to accomplish the proposed range&#59; their width is also an important characteristic to be considered&#46; As a rule of thumb&#44; links must conserve proportionality to increase the stability and performance of the robot&#46;</p></span><span id="sec0050" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0065">Gripper</span><p id="par0145" class="elsevierStylePara elsevierViewall">It is the essential part to assure a good grabbing of the pieces to be manipulated by the robot&#46; In the design a micro servo motor is proposed&#44; which weighs less than 5 grams and has a relatively good torque of 0&#46;8kg-cm&#46; To select this servo motor there has to be a tradeoff between these two characteristics&#46; It is also recommended to cover the gripper contact area with a high friction material such as foamy to increase the grabbing force&#46;</p></span></span></span><span id="sec0055" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3</span><span class="elsevierStyleSectionTitle" id="sect0070">Mechanical design</span><span id="sec0060" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3&#46;1</span><span class="elsevierStyleSectionTitle" id="sect0075">Design software and methodology</span><p id="par0150" class="elsevierStylePara elsevierViewall">The main recommended tool to be used for the mechanical design is CAD software&#59; by using it the dimensions of the different links can be easily tested and modified in order to meet the prototype specifications&#46;</p><p id="par0155" class="elsevierStylePara elsevierViewall">It is essential to have an iterative process between the 2D engineering drawings and the 3D model used to simulate the mechanic limits&#44; advantages and disadvantages of the proposed prototype&#46;</p><p id="par0160" class="elsevierStylePara elsevierViewall">It is recommended to start the mechanical design with the arm of the robot&#44; focusing on the dimensions of its links&#46; Once the arm is designed the base should be planned to provide stability and support&#46; There are some critical assemblies that must be taken care of during the design&#58;<ul class="elsevierStyleList" id="lis0015"><li class="elsevierStyleListItem" id="lsti0085"><span class="elsevierStyleLabel">&#8226;</span><p id="par0165" class="elsevierStylePara elsevierViewall">The axis of the 2 arm servomotors that will power the parallel links must be properly centered&#46;</p></li><li class="elsevierStyleListItem" id="lsti0090"><span class="elsevierStyleLabel">&#8226;</span><p id="par0170" class="elsevierStylePara elsevierViewall">The bearings&#44; couplings and joints of the arm and their relative tolerance&#46;</p></li><li class="elsevierStyleListItem" id="lsti0095"><span class="elsevierStyleLabel">&#8226;</span><p id="par0175" class="elsevierStylePara elsevierViewall">The attrition of the parts or joints during movements&#46;</p></li><li class="elsevierStyleListItem" id="lsti0100"><span class="elsevierStyleLabel">&#8226;</span><p id="par0180" class="elsevierStylePara elsevierViewall">Weight vs&#46; stiffness in the arm links&#46;</p></li><li class="elsevierStyleListItem" id="lsti0105"><span class="elsevierStyleLabel">&#8226;</span><p id="par0185" class="elsevierStylePara elsevierViewall">Stability vs&#46; weight in the base&#46;</p></li><li class="elsevierStyleListItem" id="lsti0110"><span class="elsevierStyleLabel">&#8226;</span><p id="par0190" class="elsevierStylePara elsevierViewall">Gripper design based on the desired application&#46;</p></li></ul></p><p id="par0195" class="elsevierStylePara elsevierViewall">One of the most critical sections is the arm servomotors&#8217; position and adjustment&#44; as shown in <a class="elsevierStyleCrossRef" href="#fig0015">Figure 3</a> the space between these two motors must be minimized and the axis must be centered in order to achieve a soft and precise movement of the arm&#46; This will also help to reduce vibration while moving the arm or lifting weight&#46;</p><elsevierMultimedia ident="fig0015"></elsevierMultimedia><p id="par0200" class="elsevierStylePara elsevierViewall">It is suggested to design a base to add stability to the arm while keeping its own weight at minimum&#59; a design example is presented in the <a class="elsevierStyleCrossRef" href="#fig0020">Figure 4</a>&#44; as shown the lateral faces of the polygon have been prolonged to give the base more supporting area while reducing its volume&#46;</p><elsevierMultimedia ident="fig0020"></elsevierMultimedia><p id="par0205" class="elsevierStylePara elsevierViewall">It is essential that the prototype can be disassembled or repaired in case it is needed&#59; mechanical design plays an important factor in this matter to resemble industrial criteria&#46; A &#8220;plug &#8211; socket&#8221; configuration is one possibility for the union of different mechanic parts in the prototype&#44; such as the motor base with the rotating bearing table or<a name="p439"></a> the lateral sections of the base with the top section&#44; this will give an easy and precise assembly while allowing other parts to be disassembled and assembled any time it is needed&#46;</p></span><span id="sec0065" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3&#46;2</span><span class="elsevierStyleSectionTitle" id="sect0080">Manufacturing process</span><p id="par0210" class="elsevierStylePara elsevierViewall">Once the pieces were designed and tested in the 3D environment&#44; 2D engineering descriptive drawings are created&#46; The pieces can be hand cut&#44; or machined depending on the facilities available and production processes selected&#44; as an example here a laser cutting machine was used&#44; so the procedure is therefore described&#46; After the pieces are completed in AutoCAD it is necessary to change its format to a &#46;dxf and save them in AutoCAD 2004 version&#44; this format is later used by another software called RHINOCEROS&#59; this program is used to define the final specifications to the laser cutting machine such as the size of the material to be cut&#44; the colors of some lines to define the sequence of cutting area in the material and finally the coordinate origin in the material&#46;</p><p id="par0215" class="elsevierStylePara elsevierViewall">The cutting machine shown in <a class="elsevierStyleCrossRef" href="#fig0025">Figure 5</a> has a positioning tolerance better than &#43;&#47;&#8722; 0&#46;1mm&#44; this let us create geometries with high precision and detail&#44; CAD modeling allows to make the necessary changes to the geometry&#44; thus obtaining a refined model&#46;</p><elsevierMultimedia ident="fig0025"></elsevierMultimedia><p id="par0220" class="elsevierStylePara elsevierViewall">All the parts were manufactured by this laser cutting machine and the material used was foamed PVC&#44; which is a light material &#40;0&#46;3 gr&#47;cm2&#41; and also rigid enough to meet the design specifications&#46;</p><p id="par0225" class="elsevierStylePara elsevierViewall">To manufacture the L shaped pieces&#44; the sheets were hot bended by placing them half-minute into the bending machine&#44; then these had to be molded according to the required geometry&#46;</p></span><span id="sec0070" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">3&#46;3</span><span class="elsevierStyleSectionTitle" id="sect0085">Assembly procedure</span><p id="par0230" class="elsevierStylePara elsevierViewall">Several assembly processes can be used to put the pieces together like making holes to fix pieces were screws are required for the support components&#44; as an example some motor base-rotating bearing tables are shown in <a class="elsevierStyleCrossRef" href="#fig0030">Figure 6</a>&#46;</p><elsevierMultimedia ident="fig0030"></elsevierMultimedia><p id="par0235" class="elsevierStylePara elsevierViewall">To assemble the base&#44; its components are attached by epoxy glue that allows having a good rigidity&#46; In general&#44; manufacturing processes are not very complex&#44; this is accomplished if most of the efforts are focused in the design phase on doing a sound CAD design and prototyping work&#59; the purpose is avoiding future problems in the assembly of the robot&#44; thus saving time and money&#46;<a name="p440"></a></p></span></span><span id="sec0075" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">4</span><span class="elsevierStyleSectionTitle" id="sect0090">Electronic design</span><span id="sec0080" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">4&#46;1</span><span class="elsevierStyleSectionTitle" id="sect0095">Power supply</span><p id="par0240" class="elsevierStylePara elsevierViewall">The utilized power supply was a D&#46;C&#46; 7&#46;5 volts 2 Amp voltage source&#46; The designed PCB includes a 5 Volts regulator to keep the power to the required level&#44; providing a rectified signal that is essential to guarantee the correct operation of the motors and avoid unwanted misbehaviors&#46;</p><p id="par0245" class="elsevierStylePara elsevierViewall">The control circuit is fed by an independent source&#59; in this case the digital voltage is obtained directly from the master control computer&#46; It is basic to have a reliable power supply in order to guarantee the correct operation of the circuits&#46;</p></span><span id="sec0085" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">4&#46;2</span><span class="elsevierStyleSectionTitle" id="sect0100">Printed Circuit Board</span><p id="par0250" class="elsevierStylePara elsevierViewall">The designed printed circuit board is necessary to hold the power supply lines&#59; it also provides mechanical support for all the other electronic components&#58; the control circuit&#44; capacitors and the pin connectors for every motor&#46; The PCB design was made in Livewire&#44; this is specialized but light software for the development of printed circuit boards&#44; and it contains the necessary libraries to use all the components for the designed circuit&#46; The first step is to create a schematic circuit of the components with connections&#59; the electric circuit is shown in the <a class="elsevierStyleCrossRef" href="#fig0035">Figure 7</a>&#46;</p><elsevierMultimedia ident="fig0035"></elsevierMultimedia><p id="par0255" class="elsevierStylePara elsevierViewall">The schematic circuit is later imported to another program called PCB Wizard&#44; where circuit tracks were created&#46;</p><p id="par0260" class="elsevierStylePara elsevierViewall">Additionally the program creates other schematics that show the final distribution of some components as shown in <a class="elsevierStyleCrossRef" href="#fig0040">Figure 8</a>&#46;</p><elsevierMultimedia ident="fig0040"></elsevierMultimedia></span><span id="sec0090" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">4&#46;3</span><span class="elsevierStyleSectionTitle" id="sect0105">Wiring</span><p id="par0265" class="elsevierStylePara elsevierViewall">The wiring is used to transport the power from the source to the motors&#44; which are in the motor base and the gripper of the robot&#46; Wiring should be rigid enough to accompany the movement of joints and avoid interference to the movement of the links&#46; Wire-wrap was used for the wiring&#59; this is a 30 AWG cable&#46; Wires were attached using epoxy glue&#44; which provides a good support to the cables and reduction for vibrations&#46;</p><p id="par0270" class="elsevierStylePara elsevierViewall">The motors&#8217; female pin connectors and the Arduino are fixed to the PCB with header pin connectors that are welded to the PCB&#46;</p><p id="par0275" class="elsevierStylePara elsevierViewall">The cable attachment allows free movement of the joints of the robot&#44; the location of these cables is important to avoid some failure caused by the movement of the robot&#46; All the movement routines were tested successfully&#44; with no interference of the cables&#46;</p></span></span><span id="sec0095" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5</span><span class="elsevierStyleSectionTitle" id="sect0110">Programming</span><span id="sec0100" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5&#46;1</span><span class="elsevierStyleSectionTitle" id="sect0115">Architecture</span><p id="par0280" class="elsevierStylePara elsevierViewall">Two programs were developed to control the system&#44; an Arduino code and a Central Control code&#46; The Arduino code&#44; is intended to generate the basic signals to control the servomotors position&#44; while Central Control code could perform more complex task that involves heavy processing in case of requiring a difficult to compute trajectory that might consume considerable processor resources&#46; Any microcontroller might be used for the position control&#59; the microcontroller program receives the position of the different motors through commands from the Central Control program&#46; This Central Control program also works as a User Interface &#40;UI&#41;&#46; This kind of distributed processing was tested for the following reasons&#58;<a name="p441"></a><ul class="elsevierStyleList" id="lis0020"><li class="elsevierStyleListItem" id="lsti0115"><span class="elsevierStyleLabel">-</span><p id="par0285" class="elsevierStylePara elsevierViewall">To increase modularity of the software architecture&#46;</p></li><li class="elsevierStyleListItem" id="lsti0120"><span class="elsevierStyleLabel">-</span><p id="par0290" class="elsevierStylePara elsevierViewall">Reduce microcontroller processing requirements</p></li><li class="elsevierStyleListItem" id="lsti0125"><span class="elsevierStyleLabel">-</span><p id="par0295" class="elsevierStylePara elsevierViewall">Allow for better User Interface possibilities&#46;</p></li><li class="elsevierStyleListItem" id="lsti0130"><span class="elsevierStyleLabel">-</span><p id="par0300" class="elsevierStylePara elsevierViewall">&#58;If any microcontroller &#40;besides Arduino&#41; is selected&#44; it avoids the repetitive use of specialized hardware &#40;programmers&#41; in case reprogramming of the robot behavior is needed given that microcontroller is just programmed once&#46; Microcontroller plus robot can be seen as one big block&#44; having to deal with the programming just in the host PC&#44; thus decreasing development time&#46;</p></li><li class="elsevierStyleListItem" id="lsti0135"><span class="elsevierStyleLabel">-</span><p id="par0305" class="elsevierStylePara elsevierViewall">Possibility of further application development&#58; allowing easier peripheral implementation such as with video cameras or voice recognition that require more powerful processing&#44; and that also have protocols and libraries totally documented for traditional operative systems&#46;</p></li></ul></p></span><span id="sec0105" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5&#46;2</span><span class="elsevierStyleSectionTitle" id="sect0120">Communication to Central Control program</span><p id="par0310" class="elsevierStylePara elsevierViewall">The communication between the robot &#8220;brain&#8221; and the servomotor controller was implemented on the well-known RS-232 protocol&#46; An open source library called LnxCOMM&#44; which is authorized under GNU license by Fernando Pujaico&#44; compiled and executed on Windows&#46; The serial communication is configured to 115 kbps&#44; 8 bits&#44; one stop bit&#44; and no flow control&#46;</p><p id="par0315" class="elsevierStylePara elsevierViewall">The command is sent with the following structure&#58; P&#44;PM01&#44;PM02&#44;PM03&#44;PM04&#44;</p><p id="par0320" class="elsevierStylePara elsevierViewall">As an example&#44; this is a position command for the servomotors&#58; P&#44;0750&#44;1230&#44;0100&#44;0050&#44;</p><p id="par0325" class="elsevierStylePara elsevierViewall">The motor positions are send on an &#91;0&#44;1500&#93; interval&#44; position that is read and interpreted by the motor controller positioning the robot as the master control orders&#46;</p><p id="par0330" class="elsevierStylePara elsevierViewall">The maximum refresh frequency of the motors is 25Hz because of the limitations of the control system that standard servomotors have implemented inside&#46; Every character send is a representation in ASCII code&#46;</p></span><span id="sec0110" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5&#46;3</span><span class="elsevierStyleSectionTitle" id="sect0125">Code Implementation</span><p id="par0335" class="elsevierStylePara elsevierViewall">The code for the control master was developed in C to increase the portability&#59; the only additional library besides the standard ones is the already mentioned LnxCOMM&#46;</p><p id="par0340" class="elsevierStylePara elsevierViewall">The Arduino code for the motor controller has only one function&#44; to modulate the PWM signal to change its duty cycle&#44; thus moving the servo motors to the desired angle&#46;</p><p id="par0345" class="elsevierStylePara elsevierViewall">The positions are commanded by a central control&#44; sent via RS-232&#46; This function is achieved by using a timer in the microcontroller&#46;</p><p id="par0350" class="elsevierStylePara elsevierViewall">In the central controller several functions and routines were implemented&#44; the main are described below&#58;</p><p id="par0355" class="elsevierStylePara elsevierViewall">Send command function&#58; It will read the motors&#8217; positions from an array or a pointer and will convert them into ASCII to send the command&#44; by using LnxCOMM library it sends the complete command in the specified format &#40;using delimiters between each motor position&#41; via RS-232&#46; If the microcontroller is programmed to send any message back to confirm the data reception&#44; the data should be read from the port buffer&#44; otherwise an overflow and execution time error might occur&#46; This routine is the base to build other functions&#44; such as&#58;<ul class="elsevierStyleList" id="lis0025"><li class="elsevierStyleListItem" id="lsti0140"><span class="elsevierStyleLabel">1&#46;-</span><p id="par0360" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Go home</span>&#58; Send fix coordinates to the robot&#59; it goes to a basic known position that is usually called &#8220;home</p></li><li class="elsevierStyleListItem" id="lsti0145"><span class="elsevierStyleLabel">2&#46;-</span><p id="par0365" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Joint coordinate motion</span>&#58; By pressing keys&#44; such as &#8216;Q&#8217; and &#8216;W&#8217;&#44; the user is able to move each joint of the robot an assigned step size&#46; It is easily accomplished by changing the motors&#8217; position in the array or pointer assigned&#46;</p></li><li class="elsevierStyleListItem" id="lsti0150"><span class="elsevierStyleLabel">3&#46;-</span><p id="par0370" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Send servos position</span>&#58; It allows the user to send a value to each joint of the motor&#44; it is especially useful if a previous sequence&#8217;s point wants to be proved in a new sequence&#46;</p></li><li class="elsevierStyleListItem" id="lsti0155"><span class="elsevierStyleLabel">4&#46;-</span><p id="par0375" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Set speed</span>&#58; Changes the step size of joint coordinate motor&#44; and the speed of execution of a sequence&#46;<a name="p442"></a></p></li><li class="elsevierStyleListItem" id="lsti0160"><span class="elsevierStyleLabel">5&#46;-</span><p id="par0380" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Save points</span>&#58; It is based on joint coordinate motion function&#46; By moving the motors to the desired position&#44; the robot interacts with its environment&#44; and then a sequence of points is saved to be played later&#46; It works very similarly to an industrial robot teach pendant&#46;</p></li><li class="elsevierStyleListItem" id="lsti0165"><span class="elsevierStyleLabel">6&#46;-</span><p id="par0385" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Play sequence</span>&#58; It plays the saved points sequence from command 5 at a given speed in command 4&#46;</p></li><li class="elsevierStyleListItem" id="lsti0170"><span class="elsevierStyleLabel">7&#46;-</span><p id="par0390" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Play sample sequence</span>&#58; A fixed routine can be directly written to the main program as a macro&#46; It is especially useful if you need to demonstrate your robot&#8217;s skills in a predetermined way&#46;</p></li><li class="elsevierStyleListItem" id="lsti0175"><span class="elsevierStyleLabel">8&#46;-</span><p id="par0395" class="elsevierStylePara elsevierViewall"><span class="elsevierStyleItalic">Print points</span>&#58; Useful for debugging purposes</p></li></ul></p></span><span id="sec0115" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">5&#46;4</span><span class="elsevierStyleSectionTitle" id="sect0130">Physical motor setting</span><p id="par0400" class="elsevierStylePara elsevierViewall">This section is very important for an accurate positioning of the robot&#46; On the datasheets of standard servomotors&#44; the digital PWM controls are specified&#46; Its maximum frequency is 25 Hz&#44; and the duty cycle is modulated linearly according to the set point position&#46; Just to say an example a duty cycle of 0&#37; will take the motor to an angular position of 0&#176; and a duty cycle of 100&#37; will take the motor to a 180&#176;&#46; This is the theory&#44; however&#44; because of the diversity of methods and manufacturers&#44; the variability of the real results of the control have a significant variance&#44; for example to get the limit positions or refresh frequencies&#46; This implies that for a better precision real life testing should be done&#44; registering the real positions according to the PWM control signal as accurately as possible to test the real range&#44; its effective resolution&#44; and its maximum and minimum refresh frequency&#46; This procedure was followed to ensure the real life accuracy of the motors once they are mounted on the robot&#46;</p></span></span><span id="sec0120" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">6</span><span class="elsevierStyleSectionTitle" id="sect0135">Results</span><p id="par0405" class="elsevierStylePara elsevierViewall">The proposed didactic mechatronic platform has been tested for last semester undergrad Mechatronic courses&#44; allowing for completing the project during one semester period of time and providing enough flexibility to test different robot architectures and manufacturing processes&#46; As an example&#44; two robot prototypes are shown in <a class="elsevierStyleCrossRef" href="#fig0045">Figure 9</a>&#46;</p><elsevierMultimedia ident="fig0045"></elsevierMultimedia></span><span id="sec0125" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleLabel">7</span><span class="elsevierStyleSectionTitle" id="sect0140">Conclusions</span><p id="par0410" class="elsevierStylePara elsevierViewall">The proposed didactic platform and methodology can be used to introduce the student to the industrial design procedures&#44; allowing for different manufacturing processes and robot architectures to be incorporated for the specific scope of the course and the available tools and facilities&#46; It is possible to incorporate topics such as kinematics and dynamics and further application development for easier peripheral implementation such as with video cameras or voice recognition&#46;</p><p id="par0415" class="elsevierStylePara elsevierViewall">Two programs were developed to control the system&#44; an Arduino code and a Central Control&#46;</p></span></span>"
    "textoCompletoSecciones" => array:1 [
      "secciones" => array:12 [
        0 => array:3 [
          "identificador" => "xres498860"
          "titulo" => "Abstract"
          "secciones" => array:1 [
            0 => array:1 [
              "identificador" => "abst0005"
            ]
          ]
        ]
        1 => array:2 [
          "identificador" => "xpalclavsec520358"
          "titulo" => "Keywords"
        ]
        2 => array:3 [
          "identificador" => "xres498861"
          "titulo" => "Resumen"
          "secciones" => array:1 [
            0 => array:1 [
              "identificador" => "abst0010"
            ]
          ]
        ]
        3 => array:2 [
          "identificador" => "sec0005"
          "titulo" => "Introduction"
        ]
        4 => array:3 [
          "identificador" => "sec0010"
          "titulo" => "System specification"
          "secciones" => array:3 [
            0 => array:2 [
              "identificador" => "sec0015"
              "titulo" => "System Target Requirements"
            ]
            1 => array:2 [
              "identificador" => "sec0020"
              "titulo" => "Materials"
            ]
            2 => array:3 [
              "identificador" => "sec0025"
              "titulo" => "General description and sub-assemblies"
              "secciones" => array:5 [
                0 => array:2 [
                  "identificador" => "sec0030"
                  "titulo" => "Base"
                ]
                1 => array:2 [
                  "identificador" => "sec0035"
                  "titulo" => "Rotating Bearing table"
                ]
                2 => array:2 [
                  "identificador" => "sec0040"
                  "titulo" => "Motors base"
                ]
                3 => array:2 [
                  "identificador" => "sec0045"
                  "titulo" => "Robot arm &#40;links&#41;"
                ]
                4 => array:2 [
                  "identificador" => "sec0050"
                  "titulo" => "Gripper"
                ]
              ]
            ]
          ]
        ]
        5 => array:3 [
          "identificador" => "sec0055"
          "titulo" => "Mechanical design"
          "secciones" => array:3 [
            0 => array:2 [
              "identificador" => "sec0060"
              "titulo" => "Design software and methodology"
            ]
            1 => array:2 [
              "identificador" => "sec0065"
              "titulo" => "Manufacturing process"
            ]
            2 => array:2 [
              "identificador" => "sec0070"
              "titulo" => "Assembly procedure"
            ]
          ]
        ]
        6 => array:3 [
          "identificador" => "sec0075"
          "titulo" => "Electronic design"
          "secciones" => array:3 [
            0 => array:2 [
              "identificador" => "sec0080"
              "titulo" => "Power supply"
            ]
            1 => array:2 [
              "identificador" => "sec0085"
              "titulo" => "Printed Circuit Board"
            ]
            2 => array:2 [
              "identificador" => "sec0090"
              "titulo" => "Wiring"
            ]
          ]
        ]
        7 => array:3 [
          "identificador" => "sec0095"
          "titulo" => "Programming"
          "secciones" => array:4 [
            0 => array:2 [
              "identificador" => "sec0100"
              "titulo" => "Architecture"
            ]
            1 => array:2 [
              "identificador" => "sec0105"
              "titulo" => "Communication to Central Control program"
            ]
            2 => array:2 [
              "identificador" => "sec0110"
              "titulo" => "Code Implementation"
            ]
            3 => array:2 [
              "identificador" => "sec0115"
              "titulo" => "Physical motor setting"
            ]
          ]
        ]
        8 => array:2 [
          "identificador" => "sec0120"
          "titulo" => "Results"
        ]
        9 => array:2 [
          "identificador" => "sec0125"
          "titulo" => "Conclusions"
        ]
        10 => array:2 [
          "identificador" => "xack161159"
          "titulo" => "Acknowledgements"
        ]
        11 => array:1 [
          "titulo" => "References"
        ]
      ]
    ]
    "pdfFichero" => "main.pdf"
    "tienePdf" => true
    "PalabrasClave" => array:1 [
      "en" => array:1 [
        0 => array:4 [
          "clase" => "keyword"
          "titulo" => "Keywords"
          "identificador" => "xpalclavsec520358"
          "palabras" => array:5 [
            0 => "Didactic station"
            1 => "prototype"
            2 => "robot"
            3 => "parallel links"
            4 => "mechatronic system"
          ]
        ]
      ]
    ]
    "tieneResumen" => true
    "resumen" => array:2 [
      "en" => array:2 [
        "titulo" => "Abstract"
        "resumen" => "<span id="abst0005" class="elsevierStyleSection elsevierViewall"><p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">The main objective of the construction of a robot station presented in this article is to allow the students to design and produce a feasible-to-build mechatronic device using robust&#44; low-cost components&#46; It is a tool for students to gain experience integrating different mechatronic fields of knowledge&#44; as well as practicing the procedures needed to successfully accomplish their own design&#46; The project starts by describing the target requirements to be achieved by the prototype robot&#44; these requirements will serve as the guideline for the design and further manufacture and testing of the system&#46; The sub-assemblies of the mechanism are analyzed&#44; main technical areas and their processes are discussed individually emphasizing the methods and materials used&#44; then results are presented along with some practical recommendations to extend the scope of the project and improve the performance of the prototype robot&#46; It has been especially important to maintain the didactical approach and design the platform with affordable components that can be easily obtained&#59; this is also true for the tools and software used&#46; The article is also intended to introduce the student to industrial design methodology&#44; allowing for different manufacturing processes and robot architectures to be incorporated for the specific scope of the project and the available tools and facilities&#46;</p></span>"
      ]
      "es" => array:2 [
        "titulo" => "Resumen"
        "resumen" => "<span id="abst0010" class="elsevierStyleSection elsevierViewall"><p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">El objetivo principal de la estaci&#243;n rob&#243;tica presentada en este art&#237;culo es servir como una plataforma Mecatr&#243;nica did&#225;ctica&#44; robusta&#44; relativamente econ&#243;mica y factible de construir&#44; para que los estudiantes obtengan experiencia integrando diferentes &#225;reas de la Mecatr&#243;nica y practiquen los distintos procedimientos requeridos para lograr exitosamente un dise&#241;o propio&#46; El proyecto empieza con la especificaci&#243;n de los objetivos funcionales que la plataforma debe ser capaz de lograr&#44; que a su vez servir&#225;n como una directriz para el dise&#241;o&#44; posterior manufactura y prueba del sistema&#46; Los sub ensambles principales del sistema son analizados&#44; las &#225;reas t&#233;cnicas principales y sus procedimientos son discutidos individualmente haciendo hincapi&#233; en los m&#233;todos y materiales utilizados&#44; luego los resultados son presentados en conjunto con algunas recomendaciones pr&#225;cticas para extender el alcance del proyecto y mejorar el desempe&#241;o general del robot&#46; Ha sido especialmente importante mantener el enfoque did&#225;ctico&#44; as&#237; como dise&#241;ar la plataforma con componentes que pueden ser f&#225;cilmente obtenidos&#59; se tuvo el mismo cuidado con las herramientas y los lenguajes de programaci&#243;n utilizados&#46; El art&#237;culo est&#225; orientado a que el alumno se familiarice con la metodolog&#237;a de dise&#241;o utilizada en la industria&#44; permitiendo la incorporaci&#243;n de diversos procesos de manufactura y arquitecturas de robots&#44; as&#237; como adaptar el proyecto a los objetivos espec&#237;ficos del curso y a las herramientas e instalaciones disponibles&#46;</p></span>"
      ]
    ]
    "multimedia" => array:10 [
      0 => array:7 [
        "identificador" => "fig0005"
        "etiqueta" => "Figure 1"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr1.jpeg"
            "Alto" => 592
            "Ancho" => 784
            "Tamanyo" => 58625
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0020" class="elsevierStyleSimplePara elsevierViewall">Main materials for the robotic station &#40;A&#41;Servomotors HD-3001HB&#44; &#40;B&#41;Servomotor HD-1440A&#44; &#40;C&#41;Bearings&#44; &#40;D&#41;Turntable&#44; &#40;E&#41;ARDUINO&#44; &#40;F&#41;Foamed PVC&#46;</p>"
        ]
      ]
      1 => array:7 [
        "identificador" => "fig0010"
        "etiqueta" => "Figure 2"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr2.jpeg"
            "Alto" => 520
            "Ancho" => 836
            "Tamanyo" => 47747
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0025" class="elsevierStyleSimplePara elsevierViewall">Main subassemblies of robotic station&#46;</p>"
        ]
      ]
      2 => array:7 [
        "identificador" => "fig0015"
        "etiqueta" => "Figure 3"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr3.jpeg"
            "Alto" => 608
            "Ancho" => 496
            "Tamanyo" => 53001
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0030" class="elsevierStyleSimplePara elsevierViewall">Position and adjustments of the arm servomotors&#46;</p>"
        ]
      ]
      3 => array:7 [
        "identificador" => "fig0020"
        "etiqueta" => "Figure 4"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr4.jpeg"
            "Alto" => 864
            "Ancho" => 624
            "Tamanyo" => 41963
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0035" class="elsevierStyleSimplePara elsevierViewall">Example design&#46;</p>"
        ]
      ]
      4 => array:7 [
        "identificador" => "fig0025"
        "etiqueta" => "Figure 5"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr5.jpeg"
            "Alto" => 624
            "Ancho" => 784
            "Tamanyo" => 62000
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0040" class="elsevierStyleSimplePara elsevierViewall">Utilized laser cutting machine&#46;</p>"
        ]
      ]
      5 => array:7 [
        "identificador" => "fig0030"
        "etiqueta" => "Figure 6"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr6.jpeg"
            "Alto" => 352
            "Ancho" => 816
            "Tamanyo" => 55815
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0045" class="elsevierStyleSimplePara elsevierViewall">Examples of motor base-rotating bearing table assemblies&#46;</p>"
        ]
      ]
      6 => array:7 [
        "identificador" => "fig0035"
        "etiqueta" => "Figure 7"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr7.jpeg"
            "Alto" => 524
            "Ancho" => 960
            "Tamanyo" => 64565
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0050" class="elsevierStyleSimplePara elsevierViewall">Schematic representation of the electric circuit&#46;</p>"
        ]
      ]
      7 => array:7 [
        "identificador" => "fig0040"
        "etiqueta" => "Figure 8"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr8.jpeg"
            "Alto" => 288
            "Ancho" => 896
            "Tamanyo" => 51556
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0055" class="elsevierStyleSimplePara elsevierViewall">Resulting printed circuit board&#46;</p>"
        ]
      ]
      8 => array:7 [
        "identificador" => "fig0045"
        "etiqueta" => "Figure 9"
        "tipo" => "MULTIMEDIAFIGURA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "figura" => array:1 [
          0 => array:4 [
            "imagen" => "gr9.jpeg"
            "Alto" => 688
            "Ancho" => 960
            "Tamanyo" => 98828
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0060" class="elsevierStyleSimplePara elsevierViewall">Example of two robot prototypes&#46;</p>"
        ]
      ]
      9 => array:7 [
        "identificador" => "tbl0005"
        "etiqueta" => "Table 1"
        "tipo" => "MULTIMEDIATABLA"
        "mostrarFloat" => true
        "mostrarDisplay" => false
        "tabla" => array:1 [
          "tablatextoimagen" => array:1 [
            0 => array:2 [
              "tabla" => array:1 [
                0 => """
                  <table border="0" frame="\n
                  \t\t\t\t\tvoid\n
                  \t\t\t\t" class=""><thead title="thead"><tr title="table-row"><th class="td" title="table-head  " align="left" valign="middle" scope="col" style="border-bottom: 2px solid black">Description&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</th><th class="td" title="table-head  " align="center" valign="middle" scope="col" style="border-bottom: 2px solid black">Quantity&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</th><th class="td" title="table-head  " align="center" valign="middle" scope="col" style="border-bottom: 2px solid black">&#8220;Supplier&#8221; &#47; PN&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</th></tr></thead><tbody title="tbody"><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">Servomotor 3&#46;5 kg&#42;cm&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">3&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8216;Tower HD&#8221; HD-3001HB&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">Servomotor 0&#46;8 kg&#42;cm&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">1&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8220;Power HD&#8221; HD-1440A&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">Bearing 1&#47;2&#8221; &#215; 3&#47;16&#8221;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">3&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8220;DMF&#8221; R3ZZ&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">Acrylic turn table 4 1&#47;4 &#8220;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">1&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8220;ATP&#8221; 0200-0020-1150&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">AKDUTNOUNO&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">1&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8220;Smart Projects&#8221; U00001879&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="table-entry  " align="left" valign="middle">Foamed PVC 12&#8221; &#215; 12&#8221; &#215; 1&#47;4 &#8220;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">3&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="table-entry  " align="center" valign="middle">&#8220;SINTRA&#8221; &#8220;TROVICEL&#8221;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr></tbody></table>
                  """
              ]
              "imagenFichero" => array:1 [
                0 => "xTab796384.png"
              ]
            ]
          ]
        ]
        "descripcion" => array:1 [
          "en" => "<p id="spar0015" class="elsevierStyleSimplePara elsevierViewall">List of materials for the robotic station&#46;</p>"
        ]
      ]
    ]
    "bibliografia" => array:2 [
      "titulo" => "References"
      "seccion" => array:1 [
        0 => array:2 [
          "identificador" => "bibs0005"
          "bibliografiaReferencia" => array:8 [
            0 => array:3 [
              "identificador" => "bib0005"
              "etiqueta" => "&#91;1&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Analysis of the Stabilization System of Mimbot Biped"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:3 [
                            0 => "M&#46;E&#46; Escobar"
                            1 => "H&#46; Rubio"
                            2 => "J&#46;C&#46; Garc&#237;a-Parada"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:6 [
                        "tituloSerie" => "Journal of Applied Research and Technology"
                        "fecha" => "2012"
                        "volumen" => "10"
                        "numero" => "2"
                        "paginaInicial" => "206"
                        "paginaFinal" => "214"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            1 => array:3 [
              "identificador" => "bib0010"
              "etiqueta" => "&#91;2&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Design of a Torque Generating Mechanism"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:4 [
                            0 => "G&#46; Arag&#243;n-Gonz&#225;lez"
                            1 => "A&#46; Canales-Palma"
                            2 => "A&#46; Le&#243;n-Galicia"
                            3 => "J&#46;R&#46; Morales-G&#243;mez"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:6 [
                        "tituloSerie" => "Journal of Applied Research and Technology"
                        "fecha" => "2007"
                        "volumen" => "5"
                        "numero" => "2"
                        "paginaInicial" => "65"
                        "paginaFinal" => "73"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            2 => array:3 [
              "identificador" => "bib0015"
              "etiqueta" => "&#91;3&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Development of a data acquisition system for an oceanographic buoy"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:2 [
                            0 => "M&#46; P&#233;rez Chavarr&#237;a"
                            1 => "E&#46; Estudillo Zamora"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:6 [
                        "tituloSerie" => "Journal of Applied Research and Technology"
                        "fecha" => "2009"
                        "volumen" => "7"
                        "numero" => "2"
                        "paginaInicial" => "193"
                        "paginaFinal" => "201"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            3 => array:3 [
              "identificador" => "bib0020"
              "etiqueta" => "&#91;4&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Meteorological Unit for Didactic Uses &#40;UMUD&#41;"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:5 [
                            0 => "R&#46; Dami&#225;n"
                            1 => "G&#46; Calva"
                            2 => "M&#46; Ba&#241;uelos"
                            3 => "J&#46; Castillo"
                            4 => "S&#46; Quintana"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:7 [
                        "tituloSerie" => "Journal of Applied Research and Technology"
                        "fecha" => "2004"
                        "volumen" => "2"
                        "numero" => "3"
                        "paginaInicial" => "255"
                        "paginaFinal" => "260"
                        "conferencia" => "For an electronic conference article when there are no page numbers"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            4 => array:3 [
              "identificador" => "bib0025"
              "etiqueta" => "&#91;5&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Design and Implementation of an Adjustable Speed Drive for Motion Control Applications"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:5 [
                            0 => "J&#46; Rodr&#237;guez-Res&#233;ndiz"
                            1 => "J&#46;M&#46; Guti&#233;rrez-Villalobos"
                            2 => "D&#46; Duarte-Correa"
                            3 => "J&#46;D&#46; Mendiola-Santiba&#241;ez"
                            4 => "I&#46;M&#46; Santill&#225;n-M&#233;ndez"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:6 [
                        "tituloSerie" => "Journal of Applied Research and Technology"
                        "fecha" => "2012"
                        "volumen" => "10"
                        "numero" => "2"
                        "paginaInicial" => "180"
                        "paginaFinal" => "194"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            5 => array:3 [
              "identificador" => "bib0030"
              "etiqueta" => "&#91;6&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "Adjustable Speed Drive Project for Teaching a Servo Systems Course Laboratory"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:3 [
                            0 => "J&#46; Rodr&#237;guez-Res&#233;ndiz"
                            1 => "G&#46; Herrera-Ru&#237;z"
                            2 => "E&#46;A&#46; Rivas-Araiza"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Revista" => array:6 [
                        "tituloSerie" => "IEEE Trans&#46; Educ&#46;"
                        "fecha" => "2011"
                        "volumen" => "54"
                        "numero" => "4"
                        "paginaInicial" => "657"
                        "paginaFinal" => "666"
                      ]
                    ]
                  ]
                ]
              ]
            ]
            6 => array:3 [
              "identificador" => "bib0035"
              "etiqueta" => "&#91;7&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:2 [
                      "titulo" => "A New Adaptive Self-Tuning Fourier Coefficients Algorithm for Periodic Torque Ripple Minimization in Permanent Magnet Synchronous Motors &#40;PMSM&#41;"
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:7 [
                            0 => "A&#46; G&#243;mez-Espinosa"
                            1 => "V&#46;M&#46; Hern&#225;ndez-Guzm&#225;n"
                            2 => "M&#46; Bandala-S&#225;nchez"
                            3 => "H&#46; Jim&#233;nez-Hern&#225;ndez"
                            4 => "E&#46;A&#46; Rivas-Araiza"
                            5 => "J&#46; Rodr&#237;guez-Res&#233;ndiz"
                            6 => "G&#46; Herrera-Ru&#237;z"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:2 [
                      "doi" => "10.3390/s130303831"
                      "Revista" => array:7 [
                        "tituloSerie" => "Sensors"
                        "fecha" => "2013"
                        "volumen" => "13"
                        "numero" => "3"
                        "paginaInicial" => "3831"
                        "paginaFinal" => "3847"
                        "link" => array:1 [
                          0 => array:2 [
                            "url" => "https://www.ncbi.nlm.nih.gov/pubmed/23519345"
                            "web" => "Medline"
                          ]
                        ]
                      ]
                    ]
                  ]
                ]
              ]
            ]
            7 => array:3 [
              "identificador" => "bib0040"
              "etiqueta" => "&#91;8&#93;"
              "referencia" => array:1 [
                0 => array:2 [
                  "contribucion" => array:1 [
                    0 => array:1 [
                      "autores" => array:1 [
                        0 => array:2 [
                          "etal" => false
                          "autores" => array:2 [
                            0 => "H&#46; Asada"
                            1 => "K&#46; Youcef-Toumi"
                          ]
                        ]
                      ]
                    ]
                  ]
                  "host" => array:1 [
                    0 => array:1 [
                      "Libro" => array:3 [
                        "titulo" => "Direct Drive Robots Theory and Practice"
                        "fecha" => "1987"
                        "editorial" => "The MIT Press"
                      ]
                    ]
                  ]
                ]
              ]
            ]
          ]
        ]
      ]
    ]
    "agradecimientos" => array:1 [
      0 => array:4 [
        "identificador" => "xack161159"
        "titulo" => "Acknowledgements"
        "texto" => "<p id="par0420" class="elsevierStylePara elsevierViewall">The authors would like to thank the help of Daisie Hobson and Andrea G&#243;mez Sierra for the review of the manuscript and their valuable suggestions&#46;<a name="p443"></a></p>"
        "vista" => "all"
      ]
    ]
  ]
  "idiomaDefecto" => "en"
  "url" => "/16656423/0000001200000003/v2_201505081651/S1665642314716244/v2_201505081651/en/main.assets"
  "Apartado" => null
  "PDF" => "https://static.elsevier.es/multimedia/16656423/0000001200000003/v2_201505081651/S1665642314716244/v2_201505081651/en/main.pdf?idApp=UINPBA00004N&text.app=https://www.elsevier.es/"
  "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1665642314716244?idApp=UINPBA00004N"
]
Article information
ISSN: 16656423
Original language: English
The statistics are updated each day
Year/Month Html Pdf Total
2024 November 10 0 10
2024 October 89 9 98
2024 September 44 7 51
2024 August 49 2 51
2024 July 32 5 37
2024 June 57 2 59
2024 May 47 6 53
2024 April 40 4 44
2024 March 46 6 52
2024 February 62 7 69
2024 January 88 9 97
2023 December 154 20 174
2023 November 118 12 130
2023 October 143 11 154
2023 September 104 13 117
2023 August 77 11 88
2023 July 88 5 93
2023 June 96 3 99
2023 May 104 8 112
2023 April 96 2 98
2023 March 100 3 103
2023 February 78 3 81
2023 January 100 18 118
2022 December 99 8 107
2022 November 118 13 131
2022 October 87 12 99
2022 September 92 17 109
2022 August 115 18 133
2022 July 76 17 93
2022 June 155 11 166
2022 May 131 30 161
2022 April 129 23 152
2022 March 116 20 136
2022 February 113 7 120
2022 January 170 20 190
2021 December 110 15 125
2021 November 120 28 148
2021 October 122 23 145
2021 September 86 20 106
2021 August 88 29 117
2021 July 99 16 115
2021 June 124 17 141
2021 May 138 26 164
2021 April 268 55 323
2021 March 132 21 153
2021 February 88 19 107
2021 January 71 19 90
2020 December 129 33 162
2020 November 57 17 74
2020 October 45 13 58
2020 September 43 12 55
2020 August 61 7 68
2020 July 53 13 66
2020 June 64 15 79
2020 May 71 11 82
2020 April 59 14 73
2020 March 59 10 69
2020 February 40 12 52
2020 January 56 11 67
2019 December 33 7 40
2019 November 34 7 41
2019 October 42 2 44
2019 September 36 6 42
2019 August 30 8 38
2019 July 30 10 40
2019 June 64 12 76
2019 May 93 3 96
2019 April 86 5 91
2019 March 41 7 48
2019 February 32 16 48
2019 January 34 8 42
2018 December 26 4 30
2018 November 28 6 34
2018 October 44 4 48
2018 September 36 5 41
2018 August 30 4 34
2018 July 26 1 27
2018 June 15 1 16
2018 May 24 8 32
2018 April 60 11 71
2018 March 17 1 18
2018 February 7 3 10
2018 January 13 1 14
2017 December 10 0 10
2017 November 20 1 21
2017 October 18 3 21
2017 September 20 8 28
2017 August 12 6 18
2017 July 23 0 23
2017 June 23 16 39
2017 May 20 5 25
2017 April 20 2 22
2017 March 29 69 98
2017 February 22 5 27
2017 January 36 16 52
2016 December 23 6 29
2016 November 21 6 27
2016 October 28 5 33
2016 September 24 1 25
2016 August 35 4 39
2016 July 38 2 40
2016 June 23 11 34
2016 May 21 5 26
2016 April 30 6 36
2016 March 26 8 34
2016 February 38 8 46
2016 January 37 2 39
2015 December 38 5 43
2015 November 35 7 42
2015 October 37 5 42
2015 September 45 5 50
2015 August 55 1 56
2015 July 46 2 48
2015 June 12 2 14
2015 May 7 1 8
2015 April 3 1 4
Show all

Follow this link to access the full text of the article