EXPERIMENTAL ROBOTICS FOR TRAINING AND MANUFACTURING Apóstoli, Roberto Santiago
Resumo: The research and development (R&D) of two anthropomorphic robots are presented. These are 5 degree of freedom (DOF) arms. The main R&D guidelines conducted to these remarkable milestones:
The task is to incorporate the maximum added value to the project:
the native idea, the design and the construction.
The project is a real feasibility study conducted to looking for the local industry facilities in response to these innovative "mechatronics" requirements.
Following the "learning by doing" paradigm, a knowledge transfer from lab to the graduate university classroom was made.
These two robots are the work-piece manipulators for an also experimental manufacturing flexible cell.
In order to acquire a deep knowledge about these manipulators, it was mandatory to analyze, design, develop and test the following activities and subjects :
7.CAD design and Cam manufacturing of mechanical devices.
8.Main parts are manufactured from high strength aluminum. .
9.Four-contacts bearings are used in all rotating axis.
10.Synchronic pulleys and helical gears gave the mechanical join reductions.
11.PWM drivers implemented with H power mosfets.
12.DC. servomotor digital PD and PID control loop.
13.Denavit-Hartenberg kinematics and direct-inverse geometric analysis.
14.Immerse 3 D real time virtual reality simulation and interactive 3D representation.
15.Neural-net dynamics modeling and control analysis.
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