Trayectorias de máxima rigidez de un robot redundante actuando como soporte en el mecanizado de paredes delgadas
DOI:
https://doi.org/10.4995/riai.2023.18977Palabras clave:
Robótica industrial, Grado de libertad redundante, Rigidez, Optimización de postura, Índice de comportamientoResumen
La precisión de un robot está ligada a su rigidez. En comparación con la máquina herramienta tradicional, los robots industriales tienen un gran espacio de trabajo como ventaja, pero una rigidez reducida como desventaja. Además, la rigidez tiene una gran dependencia y variabilidad con la postura o configuración del robot. De ahí que resulte necesario un análisis de rigidez de los robots, que se evalúa mediante la matriz de rigidez. En este trabajo se presenta un análisis de rigidez de un robot serie. Ante la diversidad de índices representativos extraídos a partir de la matriz de rigidez, se ha propuesto el uso de un índice que tenga en cuenta la dirección de las cargas que soporta el robot y la dirección en que se desea que el robot aporte rigidez en la aplicación específica. Asimismo, se ha utilizado el índice de rigidez para llevar el robot a configuraciones que mejoren la rigidez, hecho que resulta posible en aplicaciones en las que el robot tiene al menos un grado de libertad (GDL) redundante. La metodología se ha aplicado a un robot de 7 GDL utilizado como robot de soporte en el mecanizado de paredes delgadas. Dado que para definir la
trayectoria únicamente son necesarios 5 GDL, se utilizan 2 GDL reduntantes para mejorar la rigidez.
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Derechos de autor 2023 Jokin Aginaga García, Iván García Cuesta, Xabier Iriarte Goñi, Aitor Plaza Puértolas
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
Esta revista se publica bajo una Licencia Creative Commons Attribution-NonCommercial-CompartirIgual 4.0 International (CC BY-NC-SA 4.0)
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Gobierno de Navarra
Números de la subvención 0011-1365-2021-000080
