Desenvolvimento de uma bancada de testes para o estudo e controle de vibrações em robôs com elos flexíveis

Abstract

This work presents the development of a test bench with a robotic manipulator, with two degrees of freedom, having a link with flexible characteristics. DC motors are considered as actuators for moving the robot. The links were printed using 3D printers, in plastic material PLA (Polylactic Acid) and flexible material TPU (Thermoplastic polyurethane). After building the physical model, its characteristics were raised and the system was mathematically modeled as a non-ideal system in the Modelica language, through the openModelica software. In this way, it is possible to develop and validate different control strategies in order to minimize non-ideal effects such as the influence that one link has on the positioning of the other, or the influence of vibrations caused by the flexibility of one of the links, on the positioning of the system. Through the model in the Modelica language, techniques can be easily implemented and optimized and subsequently implemented and validated on the developed test bench.