Robótica aplicada a processos de precisão

Abstract

The work aims to introduce the applicability of robotic manipulators, presenting techniques for the design, modeling and development of a robotic arm with six degrees of freedom. For that, specific software was used for each stage, from the structural design with the aid of Siemens NX 12 to the writing and execution of the algorithm in MATLAB®. The torque calculations performed allowed the definition of the actuators, as well as with their characteristics it was possible to analyze concepts related to the precision of the movement. In the modeling of the manipulator, the Denavit-Hartenberg notation was used, characterized as direct kinematics, which provided parameters to represent the model and allowed the creation and adaptation of the algorithm for its control and activation. In addition, it was possible to simulate an outline of the manipulator's workspace using a numerical method, which uses random positions to generate reach points. After development, the validation of the project took place through the simulations performed in the MATLAB® software with the proposed algorithm, in which the angles of the joints are provided and the manipulator performs the movement from the current point to the next according to the selected speed curve. The prototype was made on a 3D printer and assembled with a four degree of freedom configuration, making it possible to carry out the experimental tests. Among these can be cited the precision test, which presented different results from the simulated ones, and the repeatability test, this with solutions applicable in certain work routines.