Diseño Preliminar de un Banco Didáctico/Experimental para el Estudio de Esfuerzos en Cadenas Cinemáticas Reconfigurables
This preliminary design took place fromthe necessity of an experimentation stage on the elasticbehavior of industrial robotic arms known as serialrobots. This design is in an optimization stage,previous to prototype construction, which will be usedas an experimental setup of kinematic chains togener...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2006 |
| País: | México |
| Institución: | Instituto Tecnológico de Aguascalientes |
| Repositorio: | Redalyc-ITA |
| OAI Identifier: | oai:redalyc.org:94403207 |
| Acceso en línea: | https://www.redalyc.org/articulo.oa?id=94403207 |
| Access Level: | acceso abierto |
| Palabra clave: | Ingeniería FEM link Joint flexion torsion |
| Sumario: | This preliminary design took place fromthe necessity of an experimentation stage on the elasticbehavior of industrial robotic arms known as serialrobots. This design is in an optimization stage,previous to prototype construction, which will be usedas an experimental setup of kinematic chains togeneralize results obtained with theoretical elasticmodeling using finite element analysis and fromexperimental values of strain using extensiometrygages. Experimental design of vibration analysis andstrain/deformation has been determined selectingtechnology of NI for the acquisition, signalconditioning and data processing.We present initial simulation results of areconfigurable kinematics chain using finite elementanalysis, obtaining a recreation of its effortdeformationstate. Finally some possibilities arediscussed for the implementation of an externalmeasurement system based on Laser light to validatesimulation and theoretical model, that allows verifyaccurately the final position of the effector in thedistorted chain. Applying theory of continuous media,two types of elastic deformations are proposed tocharacterize links and joints deformation whichproduce a position change that differs from positioncalculated with a rigid body model.Virtual models of the reconfigurable chain weremade in computer software packagesMechanicalDesktop, SolidWorks and ANSYS. |
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