Dinâmica de manipulador robótico com 4 graus de liberdade
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Data
2022-04-05
Autores
Dias, Rafael Thiago
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Este Trabalho de Conclusão de Curso foi feito acerca da Dinâmica de um Manipulador Robótico com 4 Graus de liberdade, definido por 3 juntas rotacionais paralelas e uma translacional. O espaço de trabalho do robô é limitado pelos tipos de juntas e tamanho de seus elos. A dinâmica do manipulador é o estudo baseado na obtenção de velocidades, energias e torques necessários para provocar o movimento e a capacidade de trabalho de um braço robótico. A dinâmica depende basicamente das imposições dimensionais, estruturais do robô e pela inercia de cada sistema isoladamente, que possibilitam calcular, a partir de dos ângulos obtidos pelas equações da cinemática direta e da cinemática inversa, as velocidades, acelerações e posteriormente o torque. Como citado, com os dados obtidos, é possível gerar o torque mínimo necessário para o movimento do robô, conforme resultado da equação de energia de Lagrange que, aliás, é a soma das derivadas das energias potencial e cinética nas posições do robô, em função do intervalo de tempo. Todos os cálculos e dados foram processados utilizando ferramentas de desenvolvimento como Python, Matlab, Octave e Excel, o que significa que foi possível obter resultados rápidos e a geração de diagramas e imagens que identificam os ângulos, velocidades, intervalos de torques dos elementos do manipulador robótico e seu movimento.
This Final Work Project was made above the Dynamics of a Robotic Manipulator with 4 Degrees of freedom, defined by 3 parallel rotational joints and a translational one. The robot's working space is limited by the types of joints and the size of their links. The manipulator dynamics is the study based on obtaining the speeds, energies and torques necessary to provoke the movement and the work capacity of a robotic arm. The dynamics basically depends on the dimensional and structural impositions of the robot and on the inertia of each system separately, which make it possible to calculate, from the angles obtained by the equations of forward kinematics and inverse kinematics, the speeds, accelerations and later the torque. As mentioned, with the data obtained, it is possible to generate the minimum torque necessary for the movement of the robot, as a result of the Lagrange energy equation, which, by the way, is the sum of the derivatives of the potential and kinetic energies in the positions of the robot, as a function of of the time interval. All the calculus and data were processed using development tools such as Python, Matlab, Octave and Excel, which means that it was possible to obtain fast results and enable the generation of diagrams and images that identify the angles, velocity and interval torques for the robotic manipulator elements.
This Final Work Project was made above the Dynamics of a Robotic Manipulator with 4 Degrees of freedom, defined by 3 parallel rotational joints and a translational one. The robot's working space is limited by the types of joints and the size of their links. The manipulator dynamics is the study based on obtaining the speeds, energies and torques necessary to provoke the movement and the work capacity of a robotic arm. The dynamics basically depends on the dimensional and structural impositions of the robot and on the inertia of each system separately, which make it possible to calculate, from the angles obtained by the equations of forward kinematics and inverse kinematics, the speeds, accelerations and later the torque. As mentioned, with the data obtained, it is possible to generate the minimum torque necessary for the movement of the robot, as a result of the Lagrange energy equation, which, by the way, is the sum of the derivatives of the potential and kinetic energies in the positions of the robot, as a function of of the time interval. All the calculus and data were processed using development tools such as Python, Matlab, Octave and Excel, which means that it was possible to obtain fast results and enable the generation of diagrams and images that identify the angles, velocity and interval torques for the robotic manipulator elements.
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Manipulador, Dinâmica, Cinemática, Graus de liberdade, Lagrange, Velocidades, Torque, Manipulator, Dynamic, Kinematics, Degree of freedom, Lagrange, Speeds