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Advisor(s)
Abstract(s)
Num mundo cada vez mais civilizado e urbanizado as necessidades de construção aumentam exponencialmente. O processo de construção envolve maioritariamente o manuseamento de cargas de grandes dimensões, razão pela qual são frequentemente usadas as gruas e mais recentemente também robôs.
O ambiente de simulação de arquitetura robótica de um “cable robot” proposto nesta dissertação baseia-se num sistema em que as únicas partes móveis são uma plataforma suspensa por um conjunto de quatro cabos. As tensões aplicadas nos cabos provocam a deslocação da plataforma. Este sistema totalmente automatizado tem como principal objetivo a montagem de estruturas de forma rápida, precisa e segura utilizando uma variada gama de ferramentas. Este tipo de robô tem como atributos de destaque em comparação com os robôs convencionais: a sua maior portabilidade, menor custo e possibilidade de construir estruturas maiores.
Nesta dissertação é apresentado todo o processo de desenvolvimento de um ambiente de simulação de um robô de quatro cabos, desde a sua estrutura até ao seu controlo. Este simulador serve de complemento ao protótipo de um robô de cabos desenvolvido na FEUP (Faculdade de Engenharia da Universidade do Porto).
In a world increasingly urbanized and civilized construction needs increase exponentially. The construction process mainly involves handling large loads, which is why they are often used cranes and more recently also robots. The robotic architecture of a simulation environment "cable robot" proposed in this dissertation is based on a system where the only moving parts are a platform suspended by a set of four cables. The tension applied to the cable causing the displacement of the platform. This fully automated system aims to mounting structures quickly, precisely and safely using a range of tools. This type of robot has outstanding attributes as compared with conventional robots: its portability, lower cost and the ability to build larger structures. In this dissertation is presented the entire process of development of a simulation of a four cables robot environment, from its structure to its control. This simulator complements the prototype of a cable robot developed at FEUP (Faculty of Engineering, University of Porto).
In a world increasingly urbanized and civilized construction needs increase exponentially. The construction process mainly involves handling large loads, which is why they are often used cranes and more recently also robots. The robotic architecture of a simulation environment "cable robot" proposed in this dissertation is based on a system where the only moving parts are a platform suspended by a set of four cables. The tension applied to the cable causing the displacement of the platform. This fully automated system aims to mounting structures quickly, precisely and safely using a range of tools. This type of robot has outstanding attributes as compared with conventional robots: its portability, lower cost and the ability to build larger structures. In this dissertation is presented the entire process of development of a simulation of a four cables robot environment, from its structure to its control. This simulator complements the prototype of a cable robot developed at FEUP (Faculty of Engineering, University of Porto).