Modelagem e otimização de um robô de arquitetura paralela para aplicações industriais. / Modeling and optimization of a parallel architecture robot for industrial applications.

AUTOR(ES)

Sylvio Celso Tartari Filho

DATA DE PUBLICAÇÃO

2006

RESUMO

This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.

ASSUNTO(S)

cinemática inverse kinematics kinematics análise do jacobiano elipsóide de forças arquitetura paralela cinemática direta optimization cinemática inversa dinâmica force ellipsoid formulção de newton-euler hexa forward kinematics robô robot dynamics jacobian analysis newton-euler formulation parallel architecture otimização hexa

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