A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

摘要

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.