Robot paralelo comandado por cables para la automatización de un cultivo de hortalizas
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A 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.