Articulação Modular para Braços Robóticos

Detalhes bibliográficos
Autor(a) principal: Marco António Mendonça Rocha
Data de Publicação: 2021
Tipo de documento: Dissertação
Idioma: por
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/135236
Resumo: The variety of processes to be automated in industry represents a wide range of options. So, robotic arms must be as flexible as possible in terms of their configuration. Consequently, the modular joints allow to easily configure a robotic arm with the desired characteristics for a given process. That is, a robotic arm can be built with as many joints as the number of degrees of freedom wanted, and physical connections can be placed between the joints in order to constitute the manipulator. Consequently, this work consists on the development of a modular joint for robotic arms with the following characteristics: compact, low cost, easily reconfigurable, with low backlash and with speed and position control incorporated. Thus, after a study of the different types of gearboxes, we opted for the use of a compound planetary gearbox, as it allows to obtain a high reduction ratio without dramatically increasing backlash. Additionally, in relation to the motor, it was used a brushed DC, which contributes to the low final cost of the joint. An ATmega328P microcontroller is incorporated into this joint, where the joint position and speed control algorithms are executed. In order to make it possible to carry out the control safely, this joint has the following sensors: voltage, current, temperature, absolute magnetic encoder, and Hall sensor for "Home Position". This joint also has communication to receive external commands for position and speed control.
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spelling Articulação Modular para Braços RobóticosEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringThe variety of processes to be automated in industry represents a wide range of options. So, robotic arms must be as flexible as possible in terms of their configuration. Consequently, the modular joints allow to easily configure a robotic arm with the desired characteristics for a given process. That is, a robotic arm can be built with as many joints as the number of degrees of freedom wanted, and physical connections can be placed between the joints in order to constitute the manipulator. Consequently, this work consists on the development of a modular joint for robotic arms with the following characteristics: compact, low cost, easily reconfigurable, with low backlash and with speed and position control incorporated. Thus, after a study of the different types of gearboxes, we opted for the use of a compound planetary gearbox, as it allows to obtain a high reduction ratio without dramatically increasing backlash. Additionally, in relation to the motor, it was used a brushed DC, which contributes to the low final cost of the joint. An ATmega328P microcontroller is incorporated into this joint, where the joint position and speed control algorithms are executed. In order to make it possible to carry out the control safely, this joint has the following sensors: voltage, current, temperature, absolute magnetic encoder, and Hall sensor for "Home Position". This joint also has communication to receive external commands for position and speed control.2021-07-162021-07-16T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/10216/135236TID:202822923porMarco António Mendonça Rochainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:41:47Zoai:repositorio-aberto.up.pt:10216/135236Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:07:00.368027Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Articulação Modular para Braços Robóticos
title Articulação Modular para Braços Robóticos
spellingShingle Articulação Modular para Braços Robóticos
Marco António Mendonça Rocha
Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
title_short Articulação Modular para Braços Robóticos
title_full Articulação Modular para Braços Robóticos
title_fullStr Articulação Modular para Braços Robóticos
title_full_unstemmed Articulação Modular para Braços Robóticos
title_sort Articulação Modular para Braços Robóticos
author Marco António Mendonça Rocha
author_facet Marco António Mendonça Rocha
author_role author
dc.contributor.author.fl_str_mv Marco António Mendonça Rocha
dc.subject.por.fl_str_mv Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
topic Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
description The variety of processes to be automated in industry represents a wide range of options. So, robotic arms must be as flexible as possible in terms of their configuration. Consequently, the modular joints allow to easily configure a robotic arm with the desired characteristics for a given process. That is, a robotic arm can be built with as many joints as the number of degrees of freedom wanted, and physical connections can be placed between the joints in order to constitute the manipulator. Consequently, this work consists on the development of a modular joint for robotic arms with the following characteristics: compact, low cost, easily reconfigurable, with low backlash and with speed and position control incorporated. Thus, after a study of the different types of gearboxes, we opted for the use of a compound planetary gearbox, as it allows to obtain a high reduction ratio without dramatically increasing backlash. Additionally, in relation to the motor, it was used a brushed DC, which contributes to the low final cost of the joint. An ATmega328P microcontroller is incorporated into this joint, where the joint position and speed control algorithms are executed. In order to make it possible to carry out the control safely, this joint has the following sensors: voltage, current, temperature, absolute magnetic encoder, and Hall sensor for "Home Position". This joint also has communication to receive external commands for position and speed control.
publishDate 2021
dc.date.none.fl_str_mv 2021-07-16
2021-07-16T00:00:00Z
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TID:202822923
url https://hdl.handle.net/10216/135236
identifier_str_mv TID:202822923
dc.language.iso.fl_str_mv por
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instacron:RCAAP
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instacron_str RCAAP
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collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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