Modelagem do robothron um manipulador de barras paralelas

AUTOR(ES)
DATA DE PUBLICAÇÃO

2005

RESUMO

The work approaches the modeling of the articulated robotic manipulator with six degrees of freedom, conceived for educational ends. Its presented the structure, the robotic anatomy and components, as systems of transmission, actuators and sensors used in manipulating robots. The arm and base structure of the Robothron manipulator are described. The forward kinematics modeling by Sheth-Uicker and also Denavit-Hartenbergnotations are studied. The Robothron workspace simulations graphs are presented to validate the forward kinematics equations. The inverse kinematic manipulator is studied and simulation are presented. The diferential kinematic present the manipulator Jacobian and its singularities. The of the static forces and moments analysis are used to determinate the joints transmission parameters systems for shoulder and elbow. The dynamic analysis studies three manipulators configurations and the joints torques equations to the Robothron shoulder and the elbow are determined.

ASSUNTO(S)

manipuladores (mecanismo) barras (engenharia) automação robótica cinemática das máquinas automacao eletronica de processos eletricos e industriais

ACESSO AO ARTIGO

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