Bibliobrabot: Diseño de un Brazo Robotico Asistente en Biblioteca para Discapacitados en Silla de Ruedas
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Date
2020-12-24
Authors
Cristancho Hernández, Carlos Andrés
García González, Luis Eduardo
Magre Colorado, Luz Alejandra
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Abstract
Libraries require physical adaptation to strengthen inclusion and equal accessibility for all people. This paper presents an assistant robot design focused on wheelchair users who demand library services. It is proposed as an improvement of the bibliographic content location system. This is done by adapting the robot to any classic shelf. The article contains the following analyses to check its efficiency: direct and inverse kinematics; dynamics through Newton-Euler‘s computational method; the workspace; trajectory generation; user interface. Finally, it exposes how the design works and that it can be implemented with an appropriate adaptation of the shelves for a correct disposition of the books. In addition, it proposes future improvements considering some limiting characteristics.
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C. Andrés Cristancho Hernández, L. Eduardo García González and L. Alejandra Magre Colorado, "Bibliobrabot: Diseño de un Brazo Robotico Asistente en Biblioteca para Discapacitados en Silla de Ruedas," 2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA), Cartagena de Indias, Colombia, 2020, pp. 1-6, doi: 10.1109/CIIMA50553.2020.9290293.