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Habilitation Thesis
DOI
10.11606/T.3.2018.tde-15122017-073856
Document
Author
Full name
Tarcisio Antonio Hess Coelho
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2017
Committee
Adamowski, Julio Cezar (President)
Carvalho, João Carlos Mendes
Kurka, Paulo Roberto Gardel
Lopes Junior, Vicente
Souza, Gilberto Francisco Martha de
Title in Portuguese
Topologia, síntese e análise de uma estrutura cinemática paralela.
Keywords in Portuguese
Mecanismos paralelos
Projeto mecânico
Robôs
Abstract in Portuguese
Esta tese tem por objetivo propor um método de síntese topológica de estruturas cinemáticas paralelas tendo em vista sua utilização como punhos robóticos. Uma, dentre as arquiteturas recomendadas pelo método, é analisada teoricamente, avaliando-se o seu desempenho sob o ponto de vista cinemático. Para verificação dos resultados teóricos, um protótipo da estrutura cinemática paralela considerada é ensaiada e seu comportamento é observado nas condições de operação.
Title in English
Topology, synthesis and analysis of parallel kinematic structure.
Keywords in English
Machine design
Parallel mechanisms
Robots
Abstract in English
This dissertation proposes a method for topological synthesis of kinematic parallel structures in order to be applied as robotic wrists. One among the architectures recommended by the method, is theoretically analyzed, so its kinematic performance is evaluated. In order to verify the theoretical results, a prototype of the considered kinematic parallel structure is tested and its behavior is observed under operating conditions.
 
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Publishing Date
2018-05-10
 
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