Abstract
Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. Considering that one of the ways to reduce the risk of contagion is by avoiding contact and closeness between people when exchanging supplies such as food, medicine, clothing, etc., this work proposes the use of a planar cable-driven parallel robot for the transport of supplies in hospitals whose room distribution has planar architecture. The robot acts in accordance with a procedure proposed for each task to be carried out, which includes the process of disinfection (based on Ultraviolet-C light) of the supplies transported inside the robot’s end effector. The study presents a design proposal for the geometry of the planar cable-driven parallel robots and its end effector, as well as the software simulations that allow evaluating the robot’s movement trajectories and the responses of the position control system based on Fuzzy-PID controllers.
Highlights
The use of robots has made it possible to provide numerous solutions in different areas of health care, an example of this being those applications aimed at preventing the transmission of respiratory diseases
Considering the health emergency caused by COVID-19, in this work, we propose a simulation study for the use of a planar cable-driven parallel robots (CDPR) transporting supplies in hospital buildings whose room layouts allow access from the outside of the facade of the rooms
The cables are independently connected at one end to an actuator that wind or unwind them according to the requirements of the control system, and at the other end, they are anchored to a mobile structure considered the operating end or end effector of the robot
Summary
The use of robots has made it possible to provide numerous solutions in different areas of health care, an example of this being those applications aimed at preventing the transmission of respiratory diseases. In the case presented in [1], the public acceptance of autonomous delivery robots (ADR) for last-mile freight deliveries is investigated. This characteristic of contactless distribution can promote mass delivery through these robots. In [2], the use of an autonomous mobile robot guided by GPS for the delivery of packages is proposed, and in [3], a robot that monitors the temperature and the distance of people in public places is presented
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