Diseño de la configuración de brazos robóticos vestibles para tareas de instalación y mantenimiento

[EN] Physical injuries are frequently caused by industrial installation and maintenance tasks such as handling heavy loads, repetitive movements or working in awkward positions. Passive exoskeletons are often used to address this issue. However, the use of supernumerary robotic systems is another approach. This article presents the supernumerary robotic device developed in the SecondArmS project. The results of the initial study of the workspace of the robotic device and the results of the manipulability and singularity analysis of the robotic device are presented. Based on these results, the choice of the wrist of the device between the two alternatives is justified.

[ES] En este artículo, se presenta el sistema robótico supernumerario desarrollado dentro del proyecto SecondArmS y se recogen los resultados del estudio inicial del espacio de trabajo y del estudio de manipulabilidad del dispositivo. En base a estos resultados, se justifica la selección de la muñeca del dispositivo entre dos planteamientos diferentes.