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| Campo DC | Valor | Lengua/Idioma |
|---|---|---|
| dc.contributor.author | Bareño Bernal, Miguel Angel. | - |
| dc.date.accessioned | 2022-11-11T22:02:51Z | - |
| dc.date.available | 2021-03-16 | - |
| dc.date.available | 2022-11-11T22:02:51Z | - |
| dc.date.issued | 2021 | - |
| dc.identifier.citation | Bareño Bernal, M. A. (2020). Diseño y construcción de una estructura robótica tipo Delta invertido para el laboratorio Ladprer, de la universidad de Brasilia [Trabajo de Grado Pregrado, Universidad de Pamplona]. Repositorio Hulago Universidad de Pamplona. http://repositoriodspace.unipamplona.edu.co/jspui/handle/20.500.12744/4364 | es_CO |
| dc.identifier.uri | http://repositoriodspace.unipamplona.edu.co/jspui/handle/20.500.12744/4364 | - |
| dc.description | La estructura Delta invertido a diferencia de una disposición clásica, presenta un área de trabajo al interior del volumen comprendido por las piernas del robot, propuesto por el profesor Reymond Clavel en 2016 es una configuración poco estudiada a la fecha. En el presente trabajo, se presenta el desarrollo conceptual, análisis diseño y simulación de una estructura robótica de tipo delta invertido para el laboratorio LaDPRER de la universidad de Brasilia. Se desarrolla el análisis cinemático directo e inverso al igual que la optimización dimensional utilizando algoritmos genéticos el cual calcula dimensiones de los eslabones que conforman la estructura y los modifica con el objetivo de encontrar las dimensiones optimas mínimas para su construcción, para la corroboración del mismo se implementó un código el cual genera una nube de puntos comprendidos dentro del cilindro de trabajo, el código ejecutara la cinemática inversa del robot en cada uno de dichos puntos evaluando restricciones de diseño. Si los valores obtenidos por el algoritmo no generan errores dimensionales se puede corroborar la veracidad de los valores arrojados por el ga. Como resultado final se fabricó un prototipo físico y una interfaz gráfica en el entorno matemático, los cuales se conectan mediante conexión serial enviando comandos Gcode para la realización de los desplazamientos. | es_CO |
| dc.description.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. | es_CO |
| dc.format.extent | 109 | es_CO |
| dc.format.mimetype | application/pdf | es_CO |
| dc.language.iso | es | es_CO |
| dc.publisher | Universidad de Pamplona- Facultad de Ingenierías y Arquitectura. | es_CO |
| dc.subject | Cinemática paralela. | es_CO |
| dc.subject | Robot Delta invertido. | es_CO |
| dc.subject | Desarrollo de producto. | es_CO |
| dc.subject | Optimización dimensional. | es_CO |
| dc.title | Diseño y construcción de una estructura robótica tipo Delta invertido para el laboratorio Ladprer, de la universidad de Brasilia. | es_CO |
| dc.type | http://purl.org/coar/resource_type/c_7a1f | es_CO |
| dc.date.accepted | 2020-12-16 | - |
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| Aparece en las colecciones: | Ingeniería Mecatrónica | |
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| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| Bareño_2020_TG.pdf | Bareño_2020_TG | 5,62 MB | Adobe PDF | Visualizar/Abrir |
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