Integration of an additional joint into a five axes robot and its kinematic model
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Inclou dades d'ús des de 2022
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hdl:2117/132032
Tipus de documentTreball Final de Grau
Data2018-06-06
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Abstract
Robotics is a branch of engineering and science, which is increasing and improving. This
fact provides many facilities in business but is not accessible to all consumers due to
its high price. In order for robots to be an accessible resource, inexpensive exemplars
have been created. These inexpensive robots are in the process of improvement although
nowadays the majority of samples available on the market have only 5 axes.
This thesis concerns the analysis and the testing of adding a 6th axis to an existing 5-axes
lightweight and inexpensive robot as well as the calculations of the kinematics. Regarding
the designing part, a reinforced structure has been designed considering the weight of the
robot and the critical points. In addition, the arm has been tested on the Computer Aided
Design (CAD) assembly before being manufactured and after its application in the real
model, checking that the engines run and that there is no collision preventing movement.
Furthermore, the kinematics has been verified by comparing the process before and after
the calculation and tested with many different configurations. The results obtained show
that the FlexRob can be adapted to a 6 axes structure and even though the joint angles
are limited, a minimum of two configurations are possible for each Cartesian pose.
TitulacióGRAU EN ENGINYERIA MECÀNICA (Pla 2009)
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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Documentation.zip | 16,70Mb | application/zip | Accés restringit |