Estudo de rigidez de cadeias cinemáticas fechadas
Autor(a) principal: | |
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Data de Publicação: | 2009 |
Tipo de documento: | Tese |
Idioma: | por |
Título da fonte: | Repositório Institucional da UFU |
Texto Completo: | https://repositorio.ufu.br/handle/123456789/14681 |
Resumo: | Multibody systems consist on a kinematic chain composed of links that can be rigid or flexible, interconnected by joints. The multibody systems are of great importance and are used in various applications such as in aerospace and automobile engineering, machine tools, mechanisms, sea exploration, medicine and robotics. An example of multibody system that has been widely studied in recent years is called parallel structure, which presents advantages over serial structures. In spite of its several advantages, this type of structure presents challenges to researchers on what concerns the solution of problems such as singularities, stiffness and accuracy. This thesis discuss the stiffness of complex kinematic chains directed to the parallel structures, due to their large industrial application, and the results can be applied to other closed kinematic chain systems, such as in vehicle structures. A review on the study of the stiffness of robotic structures was carried out in the literature, highlighting its advantages and disadvantages. It is also proposed the use of the stiffness method of analysis using the Matrix Structural Analysis theory (MSA) coupled to the kinematic model of the structure and main sources of flexibility of robotic structures: links and joints. This thesis is one of the pioneers to compare different methods of analysis of stiffness, showing its advantages and disadvantages. Numerical and experimental examples are presented applying the method MSA. It is also presented a new methodology for analyzing singularities through MSA method and conditional numbers. Finally, a new methodology was proposed for considering clearances in joints on multibody systems, with an application on a planar mechanism. |
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2016-06-22T18:39:22Z2009-07-032016-06-22T18:39:22Z2009-03-26GONÇALVES, Rogério Sales. Stiffness Study of Closed Kinematics Chains. 2009. 263 f. Tese (Doutorado em Engenharias) - Universidade Federal de Uberlândia, Uberlândia, 2009.https://repositorio.ufu.br/handle/123456789/14681Multibody systems consist on a kinematic chain composed of links that can be rigid or flexible, interconnected by joints. The multibody systems are of great importance and are used in various applications such as in aerospace and automobile engineering, machine tools, mechanisms, sea exploration, medicine and robotics. An example of multibody system that has been widely studied in recent years is called parallel structure, which presents advantages over serial structures. In spite of its several advantages, this type of structure presents challenges to researchers on what concerns the solution of problems such as singularities, stiffness and accuracy. This thesis discuss the stiffness of complex kinematic chains directed to the parallel structures, due to their large industrial application, and the results can be applied to other closed kinematic chain systems, such as in vehicle structures. A review on the study of the stiffness of robotic structures was carried out in the literature, highlighting its advantages and disadvantages. It is also proposed the use of the stiffness method of analysis using the Matrix Structural Analysis theory (MSA) coupled to the kinematic model of the structure and main sources of flexibility of robotic structures: links and joints. This thesis is one of the pioneers to compare different methods of analysis of stiffness, showing its advantages and disadvantages. Numerical and experimental examples are presented applying the method MSA. It is also presented a new methodology for analyzing singularities through MSA method and conditional numbers. Finally, a new methodology was proposed for considering clearances in joints on multibody systems, with an application on a planar mechanism.Um sistema multicorpo consiste em uma cadeia cinemática composta por segmentos, que podem ser rígidos ou flexíveis, conectados entre si por meio de articulações. Os sistemas multicorpos são de grande importância, pois são utilizados nas mais variadas aplicações tais como em aeronáutica, automobilística, máquinas ferramentas, mecanismos, exploração marítima, na área médica e robótica. Um sistema multicorpo que tem sido muito estudado nos últimos anos consiste na denominada estrutura paralela. Isto se deve às suas vantagens em relação às estruturas seriais. Embora apresente diversas vantagens, este tipo de estrutura apresenta desafios aos pesquisadores na solução de problemas tais como as singularidades, a rigidez e acuracidade. Nesta tese é realizado o estudo da rigidez de cadeias cinemáticas complexas, direcionado às estruturas paralelas, em função de sua grande aplicação industrial, sendo que os resultados obtidos podem ser aplicados em outros tipos de cadeia cinemática fechada como, por exemplo, em estruturas veiculares. Para o estudo da rigidez das estruturas robóticas é apresentada uma revisão das estruturas robóticas seriais e paralelas. É realizada uma revisão sobre o estudo de rigidez de estruturas robóticas presentes na literatura destacando suas vantagens e desvantagens. É também proposto o uso do método de análise de rigidez utilizando-se a teoria de análise matricial de estrutura MSA (Matrix Structural Analysis) acoplado ao modelo cinemático da estrutura e das principais fontes de flexibilidade das estruturas robóticas: segmentos e articulações. Esta tese é uma das pioneiras a comparar diferentes metodologias de análise de rigidez, mostrando suas vantagens e desvantagens. São apresentados exemplos numéricos e experimentais aplicando-se o método MSA. É apresentada também uma nova metodologia de análise de singularidades utilizando-se do método MSA e de números condicionais. Finalmente, foi proposta uma nova metodologia para a consideração das folgas nas articulações de sistemas multicorpos, com uma aplicação para um mecanismo plano.Conselho Nacional de Desenvolvimento Científico e TecnológicoDoutor em Engenharia Mecânicaapplication/pdfporUniversidade Federal de UberlândiaPrograma de Pós-graduação em Engenharia MecânicaUFUBREngenhariasSistemas multicorposEstruturas robóticasRigidezAnálise matricial de estruturaSingularidadesRobóticaMultibody systemsRobotic structuresStiffnessMatrix structural analysisSingularityCNPQ::ENGENHARIAS::ENGENHARIA MECANICAEstudo de rigidez de cadeias cinemáticas fechadasStiffness Study of Closed Kinematics Chainsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisCarvalho, João Carlos Mendeshttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4797127J7Teodoro, Elias Bitencourthttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4783620A4Sousa, Marcos Morais dehttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4788462A1Bezerra, Carlos Andre Diashttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4773409Z5Coelho, Tarcisio Antônio Hesshttp://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4788526E7http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4706163Y3Gonçalves, Rogério Salesinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFUinstname:Universidade Federal de Uberlândia (UFU)instacron:UFUTHUMBNAILatese_rogerio.pdf.jpgatese_rogerio.pdf.jpgGenerated Thumbnailimage/jpeg1339https://repositorio.ufu.br/bitstream/123456789/14681/3/atese_rogerio.pdf.jpg7d2d15f140f63c3396e3c6e0839ee7beMD53ORIGINALatese_rogerio.pdfapplication/pdf4972310https://repositorio.ufu.br/bitstream/123456789/14681/1/atese_rogerio.pdf1e7e6b1a6a47e0989bc9eb7df129eba7MD51TEXTatese_rogerio.pdf.txtatese_rogerio.pdf.txtExtracted texttext/plain385331https://repositorio.ufu.br/bitstream/123456789/14681/2/atese_rogerio.pdf.txt6dfed38d806c20bffbfa881b873a1613MD52123456789/146812016-06-23 03:53:53.198oai:repositorio.ufu.br:123456789/14681Repositório InstitucionalONGhttp://repositorio.ufu.br/oai/requestdiinf@dirbi.ufu.bropendoar:2016-06-23T06:53:53Repositório Institucional da UFU - Universidade Federal de Uberlândia (UFU)false |
dc.title.por.fl_str_mv |
Estudo de rigidez de cadeias cinemáticas fechadas |
dc.title.alternative.eng.fl_str_mv |
Stiffness Study of Closed Kinematics Chains |
title |
Estudo de rigidez de cadeias cinemáticas fechadas |
spellingShingle |
Estudo de rigidez de cadeias cinemáticas fechadas Gonçalves, Rogério Sales Sistemas multicorpos Estruturas robóticas Rigidez Análise matricial de estrutura Singularidades Robótica Multibody systems Robotic structures Stiffness Matrix structural analysis Singularity CNPQ::ENGENHARIAS::ENGENHARIA MECANICA |
title_short |
Estudo de rigidez de cadeias cinemáticas fechadas |
title_full |
Estudo de rigidez de cadeias cinemáticas fechadas |
title_fullStr |
Estudo de rigidez de cadeias cinemáticas fechadas |
title_full_unstemmed |
Estudo de rigidez de cadeias cinemáticas fechadas |
title_sort |
Estudo de rigidez de cadeias cinemáticas fechadas |
author |
Gonçalves, Rogério Sales |
author_facet |
Gonçalves, Rogério Sales |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Carvalho, João Carlos Mendes |
dc.contributor.advisor1Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4797127J7 |
dc.contributor.referee1.fl_str_mv |
Teodoro, Elias Bitencourt |
dc.contributor.referee1Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4783620A4 |
dc.contributor.referee2.fl_str_mv |
Sousa, Marcos Morais de |
dc.contributor.referee2Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4788462A1 |
dc.contributor.referee3.fl_str_mv |
Bezerra, Carlos Andre Dias |
dc.contributor.referee3Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4773409Z5 |
dc.contributor.referee4.fl_str_mv |
Coelho, Tarcisio Antônio Hess |
dc.contributor.referee4Lattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4788526E7 |
dc.contributor.authorLattes.fl_str_mv |
http://buscatextual.cnpq.br/buscatextual/visualizacv.do?id=K4706163Y3 |
dc.contributor.author.fl_str_mv |
Gonçalves, Rogério Sales |
contributor_str_mv |
Carvalho, João Carlos Mendes Teodoro, Elias Bitencourt Sousa, Marcos Morais de Bezerra, Carlos Andre Dias Coelho, Tarcisio Antônio Hess |
dc.subject.por.fl_str_mv |
Sistemas multicorpos Estruturas robóticas Rigidez Análise matricial de estrutura Singularidades Robótica |
topic |
Sistemas multicorpos Estruturas robóticas Rigidez Análise matricial de estrutura Singularidades Robótica Multibody systems Robotic structures Stiffness Matrix structural analysis Singularity CNPQ::ENGENHARIAS::ENGENHARIA MECANICA |
dc.subject.eng.fl_str_mv |
Multibody systems Robotic structures Stiffness Matrix structural analysis Singularity |
dc.subject.cnpq.fl_str_mv |
CNPQ::ENGENHARIAS::ENGENHARIA MECANICA |
description |
Multibody systems consist on a kinematic chain composed of links that can be rigid or flexible, interconnected by joints. The multibody systems are of great importance and are used in various applications such as in aerospace and automobile engineering, machine tools, mechanisms, sea exploration, medicine and robotics. An example of multibody system that has been widely studied in recent years is called parallel structure, which presents advantages over serial structures. In spite of its several advantages, this type of structure presents challenges to researchers on what concerns the solution of problems such as singularities, stiffness and accuracy. This thesis discuss the stiffness of complex kinematic chains directed to the parallel structures, due to their large industrial application, and the results can be applied to other closed kinematic chain systems, such as in vehicle structures. A review on the study of the stiffness of robotic structures was carried out in the literature, highlighting its advantages and disadvantages. It is also proposed the use of the stiffness method of analysis using the Matrix Structural Analysis theory (MSA) coupled to the kinematic model of the structure and main sources of flexibility of robotic structures: links and joints. This thesis is one of the pioneers to compare different methods of analysis of stiffness, showing its advantages and disadvantages. Numerical and experimental examples are presented applying the method MSA. It is also presented a new methodology for analyzing singularities through MSA method and conditional numbers. Finally, a new methodology was proposed for considering clearances in joints on multibody systems, with an application on a planar mechanism. |
publishDate |
2009 |
dc.date.available.fl_str_mv |
2009-07-03 2016-06-22T18:39:22Z |
dc.date.issued.fl_str_mv |
2009-03-26 |
dc.date.accessioned.fl_str_mv |
2016-06-22T18:39:22Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/doctoralThesis |
format |
doctoralThesis |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
GONÇALVES, Rogério Sales. Stiffness Study of Closed Kinematics Chains. 2009. 263 f. Tese (Doutorado em Engenharias) - Universidade Federal de Uberlândia, Uberlândia, 2009. |
dc.identifier.uri.fl_str_mv |
https://repositorio.ufu.br/handle/123456789/14681 |
identifier_str_mv |
GONÇALVES, Rogério Sales. Stiffness Study of Closed Kinematics Chains. 2009. 263 f. Tese (Doutorado em Engenharias) - Universidade Federal de Uberlândia, Uberlândia, 2009. |
url |
https://repositorio.ufu.br/handle/123456789/14681 |
dc.language.iso.fl_str_mv |
por |
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por |
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info:eu-repo/semantics/openAccess |
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openAccess |
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application/pdf |
dc.publisher.none.fl_str_mv |
Universidade Federal de Uberlândia |
dc.publisher.program.fl_str_mv |
Programa de Pós-graduação em Engenharia Mecânica |
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UFU |
dc.publisher.country.fl_str_mv |
BR |
dc.publisher.department.fl_str_mv |
Engenharias |
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Universidade Federal de Uberlândia |
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