Master's Dissertation
DOI
https://doi.org/10.11606/D.3.2006.tde-07122006-151723
Document
Author
Full name
Sylvio Celso Tartari Filho
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2006
Supervisor
Committee
Cabral, Eduardo Lobo Lustosa (President)
Goes, Luiz Carlos Sandoval
Silva, Emilio Carlos Nelli
Title in Portuguese
Modelagem e otimização de um robô de arquitetura paralela para aplicações industriais.
Keywords in Portuguese
Análise do Jacobiano
Arquitetura paralela
Cinemática
Cinemática direta
Cinemática inversa
Dinâmica
Elipsóide de forças
Formulção de Newton-Euler
Hexa
Otimização
Robô
Abstract in Portuguese
Title in English
Modeling and optimization of a parallel architecture robot for industrial applications.
Keywords in English
Dynamics
Force ellipsoid
Forward kinematics
Hexa
Inverse kinematics
Jacobian analysis
Kinematics
Newton-Euler formulation
Optimization
Parallel architecture
Robot
Abstract in English
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.