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Estudo e desenvolvimento de um robô de arquitetura paralela em configuração Delta
| Content Provider | Semantic Scholar |
|---|---|
| Author | Fischer, Guilherme Ramão |
| Copyright Year | 2019 |
| Abstract | This undergraduate thesis in Control and Automation Engineering, introduces in its structure the development of a parallel architecture robot in delta configuration with three degrees of freedom based on the original work of Reymond Clavel. To accomplish this task, the main features of the delta robot are detailed, besides the design and mechanical dimensions, are presented the resolutions of the inverse and direct kinematics equations and seted the physical limits. The stages of the practical development are the elaboration of an algorithm based on the kinematic equations to obtain the workspace. In addition, using MATLAB® and making use of inverse kinematics, the angles corresponding to the desired cartesian coordinate are sent to the controller board. The algorithms of communication, position reading, control and driver activation are also elaborated. In order to validate the proposed kinematic model, repetition, precision and verification tests of the working space of the parallel architecture robot prototype in a delta configuration are performed. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://univates.br/bdu/bitstream/10737/2541/1/2019GuilhermeFischer.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
