Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible.
The flexible manufacturing module of the CNC Lab automation engineering program includes within its main components two CNC machines, which perform machining by turning and milling. For the positioning of these parts, a control methodology is applied to the CRS A255 robotic arm, using LabView® as a...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | info:eu-repo/semantics/publishedVersion |
| Language: | spa |
| Published: |
Universidad Antonio Nariño
2021
|
| Subjects: | |
| Online Access: | http://revistas.uan.edu.co/index.php/ingeuan/article/view/224 http://repositorio.uan.edu.co/handle/123456789/3898 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1812647147795906560 |
|---|---|
| author | Díaz, Yulieth Hernández, Naidú Montoya, Jairo |
| author_facet | Díaz, Yulieth Hernández, Naidú Montoya, Jairo |
| author_sort | Díaz, Yulieth |
| collection | DSpace |
| description | The flexible manufacturing module of the CNC Lab automation engineering program includes within its main components two CNC machines, which perform machining by turning and milling. For the positioning of these parts, a control methodology is applied to the CRS A255 robotic arm, using LabView® as a graphic interface. In order to calculate the forward, inverse and differential kinematics, the models associated to that methodology are developed. Validation of the models is performed after that moving the robot using the software, which recognize each joint and shows data as link´s speed, endpoint of the end effector, angular displacement of each link and the paths for the positioning of the parts in the CNC machines. The accuracy for the arm to reach the endpoint is assessed, validating the model experimentally, obtaining error values of 1.19% for direct kinematics and 3% for inverse kinematics, values that are acceptable for a good position and confirming that the paths of motion that were established are adequate. |
| format | info:eu-repo/semantics/publishedVersion |
| id | repositorio.uan.edu.co-123456789-3898 |
| institution | Repositorio Digital UAN |
| language | spa |
| publishDate | 2021 |
| publisher | Universidad Antonio Nariño |
| record_format | dspace |
| spelling | repositorio.uan.edu.co-123456789-38982024-10-09T22:43:51Z Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. Díaz, Yulieth Hernández, Naidú Montoya, Jairo Robot modeling manufacturing kinematics Robot modelamiento manufactura cinemática The flexible manufacturing module of the CNC Lab automation engineering program includes within its main components two CNC machines, which perform machining by turning and milling. For the positioning of these parts, a control methodology is applied to the CRS A255 robotic arm, using LabView® as a graphic interface. In order to calculate the forward, inverse and differential kinematics, the models associated to that methodology are developed. Validation of the models is performed after that moving the robot using the software, which recognize each joint and shows data as link´s speed, endpoint of the end effector, angular displacement of each link and the paths for the positioning of the parts in the CNC machines. The accuracy for the arm to reach the endpoint is assessed, validating the model experimentally, obtaining error values of 1.19% for direct kinematics and 3% for inverse kinematics, values that are acceptable for a good position and confirming that the paths of motion that were established are adequate. El módulo de manufactura flexible, del laboratorio de CNC del programa de ingeniería en Automatización, incluye dentro de sus componentes principales dos máquinas de control numérico computarizado (CNC), las cuales realizan el mecanizado de piezas por torneado y fresado. Para el posicionamiento de estas piezas, se cuenta con un brazo robótico CRS A255 al cual se le aplica una metodología de control, con el diseño de la interfaz gráfica de usuario utilizando LabVIEW®. Se desarrollan los modelos para calcular la cinemática directa, inversa y diferencial. Luego se hace la validación de las ecuaciones obtenidas, moviendo el robot por medio de un programa, el cual reconoce cada articulación y muestra al usuario datos como: velocidad de movimiento, punto al que se lleva el extremo del robot, ángulo de desplazamiento de cada articulación y las rutinas para el posicionamiento de las piezas en las máquinas CNC. La precisión con la que el brazo llega a determinado punto se comprueba a través de la validación de los modelos en forma experimental, obteniéndose errores del 1,19% para la cinemática directa y de 3% para la cinemática inversa, siendo estos valores tolerables y corroborando que las trayectorias de movimiento que se establecieron son adecuadas 2021-06-16T13:52:58Z 2021-06-16T13:52:58Z 2011-12-01 info:eu-repo/semantics/publishedVersion http://purl.org/coar/resource_type/c_6501 info:eu-repo/semantics/article http://purl.org/coar/version/c_970fb48d4fbd8a85 http://revistas.uan.edu.co/index.php/ingeuan/article/view/224 http://repositorio.uan.edu.co/handle/123456789/3898 spa http://revistas.uan.edu.co/index.php/ingeuan/article/view/224/185 Acceso abierto Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/ info:eu-repo/semantics/openAccess http://purl.org/coar/access_right/c_abf2 application/pdf Universidad Antonio Nariño 2346-1446 2145-0935 INGE@UAN - TENDENCIAS EN LA INGENIERÍA; Vol. 2 Núm. 3 (2011) |
| spellingShingle | Robot modeling manufacturing kinematics Robot modelamiento manufactura cinemática Díaz, Yulieth Hernández, Naidú Montoya, Jairo Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title | Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title_full | Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title_fullStr | Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title_full_unstemmed | Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title_short | Modelamiento de un Robot de Cinco Grados de Libertad en un Módulo de Manufactura Flexible. |
| title_sort | modelamiento de un robot de cinco grados de libertad en un modulo de manufactura flexible |
| topic | Robot modeling manufacturing kinematics Robot modelamiento manufactura cinemática |
| url | http://revistas.uan.edu.co/index.php/ingeuan/article/view/224 http://repositorio.uan.edu.co/handle/123456789/3898 |
| work_keys_str_mv | AT diazyulieth modelamientodeunrobotdecincogradosdelibertadenunmodulodemanufacturaflexible AT hernandeznaidu modelamientodeunrobotdecincogradosdelibertadenunmodulodemanufacturaflexible AT montoyajairo modelamientodeunrobotdecincogradosdelibertadenunmodulodemanufacturaflexible |
