Diseño y construcción de un robot paralelo comandado por cables espacial
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This 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.