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Abstract(s)
A evolução da humanidade é fator responsável pelo surgimento de necessidades, que hoje são consideradas básicas, e que antes não existiam. A moradia, por exemplo, tornou-se uma necessidade básica do ser humano, e passou a possuir um alto custo envolvido. O aumento populacional provocou a intensificação da procura por moradias, o que acabou tornando a mão de obra cada vez mais cara. Para tentar solucionar este problema várias soluções foram apresentadas, dentre elas tem-se a construção autónoma das moradias. Este trabalho apresenta uma proposta de um robô paralelo atuado a cabos com a finalidade de ser utilizado na construção civil, levando em consideração a carga útil e o tamanho do espaço de trabalho para propor a arquitetura. Para chegar a uma proposta condizente, é feito um estudo sobre os robôs já existentes e quais os tipos de atuadores e sensores utilizados nos robôs, a partir disso ´e proposto uma arquitetura para o sistema. O sistema proposto consiste em quatro pilares com distâncias variáveis entre si, sendo necessário apenas informá-las no sistema de controlo. No topo de cada um dos pilares há uma roldana multi-direcional por onde passa o cabo que sai da base de cada pilar e se conecta a uma plataforma no interior do volume de trabalho. A plataforma é o único ponto do robô onde se conectam os quatro cabos, sendo conectada a ela o atuador final, que neste caso é uma garra que é responsável pela tarefa de pick-and-place. A partir do sistema descrito é implementado um software para a simulação do sistema, o qual apresenta em uma janela gráfica o movimento planeado. Posteriormente este software é colocado a prova e analisados os resultados obtidos. Esta dissertação apresenta o processo de planeamento de um robô atuado por quatro cabos, desde o estudo da cinemática, a arquitetura e a escolha dos dispositivos necessários para a implementação.
With the evolution of humanity, some basic necessities appeared that would become very expensive in the future, one of them is the housing, with the population increase the demand for housing intensified, and the labor became more and more expensive. In order to solve this problem several solutions were presented, among them the autonomous construction of the dwellings. This work presents a proposal for a cable-driven parallel robot, it aims to be used in civil construction, considering the useful load and the workspace size to propose the architecture. In order to achieve a suitable proposal, a study about the existing robots and the types of actuators and sensors used in the robots is made, concluding an architecture for the system. The proposed system consists in four pillars with variable distances between them, being only necessary to inform that distances in the control system. At the top of each pillar there is a multi-directional pulley where the cable from the base of the pillar passes and connects to a platform inside the working volume. This platform is the only point where the four cables are connected in the robot. It also connects the final actuator, in this case is a gripper which is responsible for the pick-and-place task. From the described system a software is implemented for its simulation, which presents in a graphic window the planned movement. Subsequently this software is tested and the results obtained are analyzed. This thesis presents the process of planning a robot operated by four cables, from the study of the kinematics, architecture and the choice of the necessary devices for the implementation.
With the evolution of humanity, some basic necessities appeared that would become very expensive in the future, one of them is the housing, with the population increase the demand for housing intensified, and the labor became more and more expensive. In order to solve this problem several solutions were presented, among them the autonomous construction of the dwellings. This work presents a proposal for a cable-driven parallel robot, it aims to be used in civil construction, considering the useful load and the workspace size to propose the architecture. In order to achieve a suitable proposal, a study about the existing robots and the types of actuators and sensors used in the robots is made, concluding an architecture for the system. The proposed system consists in four pillars with variable distances between them, being only necessary to inform that distances in the control system. At the top of each pillar there is a multi-directional pulley where the cable from the base of the pillar passes and connects to a platform inside the working volume. This platform is the only point where the four cables are connected in the robot. It also connects the final actuator, in this case is a gripper which is responsible for the pick-and-place task. From the described system a software is implemented for its simulation, which presents in a graphic window the planned movement. Subsequently this software is tested and the results obtained are analyzed. This thesis presents the process of planning a robot operated by four cables, from the study of the kinematics, architecture and the choice of the necessary devices for the implementation.
Description
Keywords
Robô a cabos Cinemática Planeamento da trajetória Controlo Simulação Cable-driven parallel robots Kinematics Trajectory planning Control Simulation