Dissertação
Projeto, construção e controle de um manipulador robótico atuado por músculos de McKibben
Fecha
2021-09-10Autor
Vinícius Avelino Sena
Institución
Resumen
Currently, there is a search in the international market for more economical processes,
which at the same time pollute less the environment. In this context, pneumatic
actuators emerge, which stand out mainly in the industrial environment to present
important advantages when compared to other technologies. Among them,
McKibben's Artificial Pneumatic Muscles have gained notoriety in recent years, for
having employability both in industrial equipment, as well as in rehabilitation
orthoses and humanoid robotic devices. In view of the benefits of the aforementioned
technology, this work proposes the construction of a robotic manipulator actuated by
Mckibben muscles and the development of a control system for the designed device.
Both in the making of the actuator and in the use of the components were used at low
cost and easy to be found on the market, an end to the development of an accessible
system, with ease for large-scale manufacturing. Through the results obtained, it was
possible to observe that the system met the project expectations, satisfactory results
when subjected to disturbances. Another point to be mentioned is the fact that the
device was built to the requirements of the ISO / TS 15066 standard. This adequacy
allows the developed manipulator to be used by man in a safe way.