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Neste documento descreve-se o trabalho desenvolvido para a criação de um modelo didático composto por um braço robótico e um tapete de transporte. O desenvolvimento do trabalho pode ser dividido por duas componentes, o projeto mecânico e fabrico das peças e a componente da eletrónica e controlo.
Inicialmente foi avaliado o braço robótico já existente bem como a cinemática do movimento do braço robótico. Foi analisada a garra já existente e desenvolvida uma nova garra que se adaptasse ao robô e à funcionalidade pretendida. Foi impressa em 3D e realizou-se a montagem da mesma e do servo motor.
Posteriormente foram desenhados vários tipos de tapetes de transporte e analisado o seu movimentos e funcionalidade. Foram impressos alguns modelos até chegar ao modelo final com as dimensões pretendidas. Posteriormente, foi projetada uma roda dentada que funcionasse com os vários elementos do tapete e impressa.
Para o tapete de transporte foi necessário desenvolver uma estrutura que suporte as cargas que serão utilizadas e permita a montagem do tapete. A estrutura foi sendo alterada de acordo com as necessidades que iam surgindo e sendo otimizada.
Tendo já a estrutura foi desenvolvida uma peça que funcionasse como um esticador para o tapete. Foi impressa e foi então que se tentou roscar com um caçonete, mas uma vez que a sua precisão não era das melhores não foi possível. Desenhou-se uma nova peça já com a intenção de utilizar um varão roscado M6 de 60mm. Montou-se os rolamentos e todas as peças da estrutura e tapete.
Para movimentar o tapete utiliza-se um motor DC e para detetar as peças um sensor de medição de distância, a parte do controlo é feita com base no Arduino.
This document describes the prototype of a didactic model consisting of a robotic arm and a conveyor belt. The work development can be divided into two components, the mechanical design and manufacturing of the parts and the electronics and control component. In the initial phase the existing robotic arm was evaluated as well as its kinematics of the robotic arm movement. The existing grapple was analyzed and a new gripper that adapted to the robot and the intended functionality was developed. Printed in 3D and assembled, movement based on the servo motor. Subsequently, various types of conveyor belts were designed, and their movements and functionality analyzed. Some models were printed until reaching the final model with the desired dimensions. Having the conveyor belt, a cog-wheel was designed that worked with the various elements of the carpet. For the conveyor belt, it was necessary to develop a structure that supports the loads that will be used and allows the assembly of the belt. The structure was changed according to the requirement needs and consequently optimized. Having the structure already, a piece was developed that functioned as a stretcher for the carpet. It was printed and it was then that one tried to screw it with a thread dies, but since its accuracy was not the best it was not possible. A new piece was designed with the intention of using a 60mm M6 threaded rod. The bearings and all the frame and conveyor belt parts were assembled. To move the carpet was used a DC motor and to detect the pieces a distance measuring sensor, the control part is made based on the apply of Arduino.
This document describes the prototype of a didactic model consisting of a robotic arm and a conveyor belt. The work development can be divided into two components, the mechanical design and manufacturing of the parts and the electronics and control component. In the initial phase the existing robotic arm was evaluated as well as its kinematics of the robotic arm movement. The existing grapple was analyzed and a new gripper that adapted to the robot and the intended functionality was developed. Printed in 3D and assembled, movement based on the servo motor. Subsequently, various types of conveyor belts were designed, and their movements and functionality analyzed. Some models were printed until reaching the final model with the desired dimensions. Having the conveyor belt, a cog-wheel was designed that worked with the various elements of the carpet. For the conveyor belt, it was necessary to develop a structure that supports the loads that will be used and allows the assembly of the belt. The structure was changed according to the requirement needs and consequently optimized. Having the structure already, a piece was developed that functioned as a stretcher for the carpet. It was printed and it was then that one tried to screw it with a thread dies, but since its accuracy was not the best it was not possible. A new piece was designed with the intention of using a 60mm M6 threaded rod. The bearings and all the frame and conveyor belt parts were assembled. To move the carpet was used a DC motor and to detect the pieces a distance measuring sensor, the control part is made based on the apply of Arduino.
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Keywords
Braço robótico Tapete de transporte Impressora 3D Controlo Estrutura Desenho Arduíno Motor DC