Metodologia de modelagem, simulação e programação off-line de robos e mecanismos mecatronicos integrados e direcionados a celulas de manufatura flexiveis

AUTOR(ES)
DATA DE PUBLICAÇÃO

2004

RESUMO

The main objective of this research consists on the development of a general methodology for the integration, simulation and ofl-line programming of robots and mechatronic mechanisms into Flexible Manufacturing Cells FMC. The development ofthe methodology embraces the modeling of FMC using Petri Nets PN, the geometric modeling with system CAD of the environrnent of the robot s performance inc1udingequipment and associate mechanisms, mathematica1modeling of the direct kinematics and inverse kinematics of the robot based on Denavit - Hartenberg metodology, mathematical modeling of kinematics with Quaternions, mathematical modeling of the direct Jacobian and inverse Jacobian of the robot, the graphic simulation ofthe robot s trajectories, graphic simulation of the movement of the mechanisms and the coordination and integration of the robot s movements and of mechanisms. The off line programming of the robots is the principIe for the integration of the components. Studies of cases allows the implementation, validation and it proves of the developed methodology, are presented, including off line programming independent, of-line programming simultaneous, off-line programming sequential, and off-line programming integrated.

ASSUNTO(S)

simulation computer modelamento matematico simulação (computadores) mathematical modeling robos robots

Documentos Relacionados