Optimización del Espacio de Trabajo de un Robot Deltoide

Alfredo Gutiérrez-Preciado, Max Antonio González-Palacios, Luz Antonio Aguilera-Cortés, Francisco Javier Mendoza-Patiño

Resumen

Los estudios realizados en el robot Delta han reportado inconveniencias con respecto a su limitado espacio de trabajo. Este artículo propone una modificación en la colocación de sus actuadores, convirtiéndose así en lo que se denomina robot Deltoide. Con este cambio, el espacio de trabajo puede aumentar o disminuir considerablemente. De esta manera, se propone una optimización usando algoritmos genéticos para encontrar el mayor espacio de trabajo que el robot puede tener dependiendo de las variables de diseño. Además, se explica e implementa el análisis general de la cinemática directa e inversa del robot Deltoide, en un software creado especialmente para esta aplicación.


Palabras clave

Robot Deltoide; Diseño; Optimización; Simulación por computadora; Espacio de trabajo; ADEFID

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Referencias

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