bachelorThesis
Desenvolvimento de um manipulador robótico de cinemática paralela
Fecha
2019-11-07Registro en:
BARBOSA, Jonas Medeiros de Azevedo. Desenvolvimento de um manipulador robótico de cinemática paralela. 2019. 61f. Trabalho de Conclusão de Curso (Graduação em Engenharia Mecânica) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2019.
Autor
Barbosa, Jonas Medeiros de Azevedo
Resumen
The application of parallel kinematics robots is common in industries due to its lightness and rigidity when compared to serial kinematics robots, in occasions of manipulation in high-speed is necessary. However, this type of mechanism presents many challenges in its construction due to the kinematics. In this context, aiming to study and propose solutions to these challenges, a parallel five bar robotic manipulator, controlled by stepper motors aided by software control based in LabView, capable of handle 30 g magnetic objects has been developed. The kinematics has been studied and a solution considering the singularities of the system was proposed, enabling a workspace of 706 mm².