Design and Building of a Cable based Robotic System
DOI:
https://doi.org/10.30973/progmat/2017.9.1/3Keywords:
wire robot, prototype, parallel mechanism, development platformAbstract
In this document the design and prototyping of a cable based robot also known as wire robot is presented. The proposed wire robot is developed as an experimental platform, for developing and evaluating control schemes to optimize the workspace and also studying its kinematics and dynamics. Regarding the design of the system, the methodology is based in the following stages: physical and mechanical analysis, establishment of requirements, component selection, prototyping, testing and validation. A control board based on microcontroller uses manual and automatic modes of operation. In the case of manual mode, analog components are used to control the movement on each axis, with the equations of motion that coordinate four DC motor. In the automatic mode an interface based on the Labview was developed. Also, power board is used in order to supply movement according to the calculations developed in the microcontroller.Finally, the results of the movement of the mobile platform are presented, in the three x,y,z axes, which allows to verify the behavior of the robot system based on cables and the onclusions.
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Copyright (c) 2017 José Rafael Mendoza Vázquez, Sergio Javier Torres Méndez, Irma Delia Rojas Cuevas, Omar Flores Sánchez
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