Diseño y construcción de una estructura robótica tipo Delta invertido para el laboratorio Ladprer, de la universidad de Brasilia.

Abstract

The inverted Delta structure, unlike a classic arrangement, presents a work area within the volume comprised by the robot's legs, proposed by Professor Reymond Clavel in 2016, it is a configuration little studied to date. In this work, the conceptual development, analysis, design and simulation of an inverted delta-type robotic structure for the LaDPRER laboratory of the University of Brasilia is presented. The direct and inverse kinematic analysis is developed as well as the dimensional optimization using genetic algorithms which calculates dimensions of the links that make up the structure and modifies them in order to find the minimum optimal dimensions for its construction, for the corroboration of the same implemented a code which generates a cloud of points within the working cylinder, the code will execute the inverse kinematics of the robot in each of these points evaluating design constraints. If the values obtained by the algorithm do not generate dimensional errors, the veracity of the values produced by the ga can be corroborated. As a final result, a physical prototype and a graphical interface were manufactured in the mathematical environment, which are connected through a serial connection sending Gcode commands to carry out the movements.