Publication: Metodología para el desarrollo de un manipulador móvil autónomo con características antropométricas
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2011-07
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2011-07-12
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Abstract
El desarrollo de esta tesis se enmarca en el proyecto MANFRED (MAN FRiEnDly mobile manipulator) desarrollado por el Grupo de Manipuladores Móviles del Departamento de Ingeniería de Sistemas y Automática en la Universidad Carlos III de Madrid. El objetivo de este proyecto es la construcción de un robot manipulador móvil antropomórfico de servicios avanzado capaz de operar en entornos típicamente diseñados para humanos. Para lograr este objetivo la robustez, fiabilidad y seguridad, han sido requisitos fundamentales para que el robot pueda desarrollar su tarea de forma adecuada en entornos compartidos con seres humanos, sin necesidad de modificar el espacio de trabajo. En esta tesis se tratan especialmente los aspectos relacionados con el diseño mecánico de un brazo manipulador robótico de 6 grados de libertad conocido como UC3M-LWR-1, imprescindible para llevar a cabo las tareas de manipulación y colaboración con personas. Para ello, se ha llevado a cabo el diseño y construcción de un brazo manipulador de baja inercia, pero con una capacidad de carga y alcance lo más parecido posible a los de un brazo humano. En la etapa de diseño ha sido necesario realizar un estudio antropométrico que permitiera establecer los parámetros de alcance así como los rangos articulares del brazo humano, de manera que pudieran ser imitados, en la medida de lo posible, por el diseño del manipulador objeto de esta tesis. Por otra parte, también se presenta el estudio realizado de los distintos materiales constructivos, así como de los componentes comerciales que se habrían de emplear en la construcción del brazo manipulador. De esta manera se pretendía lograr la mayor ligereza posible de la estructura, ya que este aspecto repercute directamente en la seguridad para los seres humanos que pudieran compartir el espacio de trabajo con el manipulador, disminuyendo la inercia en situaciones de choques accidentales. Además, un diseño ligero confiere al brazo manipulador una mayor versatilidad ya que le permite manipular objetos más pesados y por tanto amplía el número de tareas que puede realizar. Por otra parte, en la fase de diseño previa a la construcción del brazo manipulador, se han tenido en cuenta otros aspectos de gran relevancia cuando hablamos de diseñar un prototipo, cuyo último fin es que pueda llegar a ser algún día comercializado, como son el aspecto económico, en cuanto al coste de los elementos constitutivos del mismo, los procesos de mecanizado necesarios para la construcción de la estructura, así como el aspecto estético del diseño tratando en todo momento de que no resultase agresivo visualmente. Finalmente, se presentan los análisis, tanto cinemático como dinámico, junto con las simulaciones realizadas para una tarea concreta como es la apertura de una puerta. Estos análisis han permitido validar el diseño mecánico del brazo manipulador y al mismo tiempo detectar y corregir aquellos defectos del diseño, previamente a su construcción. --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
This thesis was developed within the framework of the MANFRED (MAN FRiEnDly mobile manipulator) Project by the Mobiles Manipulators Group of the Systems Engineering and Automation Department, in Carlos III of Madrid University. The aim of the project was to construct an advanced anthropomorphic mobile manipulator robot capable of operating within typical human environments. In order to achieve this goal; robustness, reliability and safety were the fundamental requirements in order that the robot could adequately develop the task in shared environments with human beings without the need to modify the work space. The thesis addresses specifically the points related to the mechanical design of a robotic manipulator arm that has 6 degrees of freedom known as LWR-UC3M-1, indispensable to carry out tasks of manipulation and collaboration with people. For this, the design and construction of a manipulator arm of low inertia has been carried out, but with a load capacity and reach resemble that of the human arm. During the design phase, it was necessary to perform an anthropomorphic study that allowed establishing the reach parameters likewise the articular ranges of the human arm joints. This was done in order that the human arm could be imitated, in so far as possible, for the manipulator design object of this thesis. A further study was performed on the different construction materials required, as well as of the commercial components that would be implemented and used during the construction of the arm manipulator. In this manner, the intention was to achieve maximum possible lightness of the structure, since this aspect results directly in the security of the human beings that could share and interact in the work space with the manipulator, diminishing the inertia of potential situations of accidental collisions. Besides, a light weight design will give the manipulator arm greater versatility allowing it to manipulate heavier objects and therefore increase the number of tasks that can be performed. On the other hand, during the prototype design phase prior to the manipulator arm construction, other key aspects of great relevance like economic issue (the constitutive component costs), machining process needs for structure construction and aesthetically pleasing design were considered with the end goal that one day it would be commercially viable to make and available. Finally, the cinematic and dynamic analysis, along with the simulations performed for a specific task (The opening of a door) will be presented. These analyses have in turn allowed the approval of the arm manipulator mechanical design and at the same time to detect and to correct those defects of the design, prior to its construction.
This thesis was developed within the framework of the MANFRED (MAN FRiEnDly mobile manipulator) Project by the Mobiles Manipulators Group of the Systems Engineering and Automation Department, in Carlos III of Madrid University. The aim of the project was to construct an advanced anthropomorphic mobile manipulator robot capable of operating within typical human environments. In order to achieve this goal; robustness, reliability and safety were the fundamental requirements in order that the robot could adequately develop the task in shared environments with human beings without the need to modify the work space. The thesis addresses specifically the points related to the mechanical design of a robotic manipulator arm that has 6 degrees of freedom known as LWR-UC3M-1, indispensable to carry out tasks of manipulation and collaboration with people. For this, the design and construction of a manipulator arm of low inertia has been carried out, but with a load capacity and reach resemble that of the human arm. During the design phase, it was necessary to perform an anthropomorphic study that allowed establishing the reach parameters likewise the articular ranges of the human arm joints. This was done in order that the human arm could be imitated, in so far as possible, for the manipulator design object of this thesis. A further study was performed on the different construction materials required, as well as of the commercial components that would be implemented and used during the construction of the arm manipulator. In this manner, the intention was to achieve maximum possible lightness of the structure, since this aspect results directly in the security of the human beings that could share and interact in the work space with the manipulator, diminishing the inertia of potential situations of accidental collisions. Besides, a light weight design will give the manipulator arm greater versatility allowing it to manipulate heavier objects and therefore increase the number of tasks that can be performed. On the other hand, during the prototype design phase prior to the manipulator arm construction, other key aspects of great relevance like economic issue (the constitutive component costs), machining process needs for structure construction and aesthetically pleasing design were considered with the end goal that one day it would be commercially viable to make and available. Finally, the cinematic and dynamic analysis, along with the simulations performed for a specific task (The opening of a door) will be presented. These analyses have in turn allowed the approval of the arm manipulator mechanical design and at the same time to detect and to correct those defects of the design, prior to its construction.
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Keywords
Robots móviles, Robots manipuladores, Control automático