Examinando por Materia "Robótica paralela"
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- PublicaciónAcceso abiertoDiseño y construcción de un robot paralelo comandado por cables espacial(Universidad de Ibagué., 2019) Cardozo Varón, Jhon Anderson; García Vanegas, Jorge AndrésThis paper describes the research assistance developed for the design and construction of a space-based Parallel Robot Commanded by Cables (RPCC), developed in the mechatronic design hotbed, MEC-AUTRONIC, belonging to the D + TEC research group from the University of Ibagué. Said robot of 3 GDL consists of a mobile platform, better known as end effector, suspended and joined by 8 cables to a fixed platform (frame). In this work the design and construction of a Parallel Robot Commanded by Cables (RPCC) suspended and of 3 GDL (Degrees-of-Freedom) is developed, since the number of cables is greater than the number of degrees of freedom. The redundancy allows the robot to be tolerant to faults, the tensions in the cables decrease, the work space was expanded and the rigidity of it improved. The work space of an RPCC is the space through which the mobile structure can be moved without collisions between the cables and ropes that only pull on the end effector, since they can not push. The RPCC has some interesting advantages, such as the reduction of the inertia of the mobile structure, high accelerations and fast movements, a wide working space, this will depend on the voltage limits and the length in the cables. The same as its advantages also present several disadvantages, which day by day are studied to improve the efficiency and feasibility of these robots such as: the collision of the cables with the environment, non-rigid nature of the cables to position and rotation in the end effector.
- PublicaciónAcceso abiertoRobot paralelo comandado por cables para la automatización de un cultivo de hortalizas(Universidad de Ibagué., 2019) Arias Vasquez, Andrés Mauricio; Garcia Vanegas, Jorge AndrésA Cable Operated Parallel Robot (RPCC) is a conventional parallel mechanism whose rigid arms cables have replaced. These are wound onto a drum or coil anchored to the motors, which when driven varies the length of the cables causing the end-effector to position and orient within the workspace. These robots are lighter, stiffer and more economical compared to traditional parallel robots. The assembly and transport of their structure is simpler and they have the capacity to support more weight. A major disadvantage is that the cables can only exert tension but not push the effector, therefore, the modeling, workspace analysis and design of these robots differs from convention alones. The control and design of these robots has attracted the attention of many research groups duet their potential in industrial applications, as they can serve similar purposes to traditional parallel robots, but with the advantage that they can work in larger spaces. This research assistance develops the modeling and construction of an RPCC for the process of planting, irrigation and monitoring of vegetable crops at the University of Ibagué. This proposal is part of the collaborative work between the University of Ibagué and the University of Castilla-La Mancha, being the continuity of the research assistance of Assistant Manuel Alejandro Morales Castaño, in a joint work, directly a research proposal for the incursion of parallel robotics led by cables in agriculture.