Thesis APLICACIÓN DE METODOLOGÍAS EN SISTEMA DE INTEGRACIÓN MODULAR DE HERRAMIENTAS PARA ROBOT MANIPULADOR INDUSTRIAL
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Date
2018
Authors
BUSTAMANTE CONTRERAS, MARCOS ANTONIO
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Abstract
La presente investigación tiene como objetivo desarrollar una solución mediante software CAD y prototipado rápido para la integración modular de herramientas para un robot manipulador industrial mediante el análisis y estudio de los sistemas actuales de, intercambio de herramientas EOAT, herramientas de fin de brazo robótico y manufactura aditiva para su construcción.En la metodología para el desarrollo de los modelos y prototipos se consideran las tecnologías estudiadas como sistemas técnicos separando el sistema en subsistemas para su mejor comprensión. Se estudian las alternativas de diseño usando ingeniería inversa por medio de las herramientas de análisis de patentes y benchmarking. A continuación, se identifican las variables de diseño, tanto la interdependencia de los sistemas como también las variables constructivas a considerar. La generación de bosquejos es una herramienta que servirá como contextualización y apoyo visual para esclarecer, explicitar y entender de mejor forma el proceso creativo y el método de toma de decisiones.Finalmente, la concepción de las propuestas se lleva a cabo mediante la modelación en software CAD y posteriormente se procede a su construcción a través de impresión 3D.Se concluye la factibilidad de los dispositivos como prototipos funcionales para las herramientas de fijación “Scribly” y gripper “LaGara” principalmente por las ventajas en cuanto a rendimiento para un robot manipulador industrial, y como potencial modelo de desarrollo e investigativo para el sistema de integración de EOATs intercambiador de herramientas eléctricas “GiroE”.
The aim of this investigation is to develop a solution using CAD software and rapid prototyping to the modular integration of tools for a manipulator industrial robot through the analysis and the study of the actual systems of: exchange of tools EOAT, robotic arm end tools and additive manufacturing for its construction.In the methodology to the develop of the models and prototypes, the technologies studied are considered as technical systems separating the systems in subsystems for its better comprehension. The alternatives of design are studied using inverse engineering through the tools of patents analysis and benchmarking. Then, the design variables are identified, both the systems interdependence and the construction variables to considered. The generation of sketches is a tool that will serve as contextualization and visual support to clarify, explain and understand in a better way the creative process and the decision-making method.Finally, the conception of the proposals is carried out through the modeling in CAD software and then it is proceeded to its construction through the 3D print.It concludes the feasibility of the diapositives as functional prototypes for the fixation tools “Scribly” and gripper “LaGara”, principally for the advantage in the performance for a manipulator industrial robot, and as a potential development and investigative model for the integrated system of electric tools of robotic arm end interchanger “GiroE”.
The aim of this investigation is to develop a solution using CAD software and rapid prototyping to the modular integration of tools for a manipulator industrial robot through the analysis and the study of the actual systems of: exchange of tools EOAT, robotic arm end tools and additive manufacturing for its construction.In the methodology to the develop of the models and prototypes, the technologies studied are considered as technical systems separating the systems in subsystems for its better comprehension. The alternatives of design are studied using inverse engineering through the tools of patents analysis and benchmarking. Then, the design variables are identified, both the systems interdependence and the construction variables to considered. The generation of sketches is a tool that will serve as contextualization and visual support to clarify, explain and understand in a better way the creative process and the decision-making method.Finally, the conception of the proposals is carried out through the modeling in CAD software and then it is proceeded to its construction through the 3D print.It concludes the feasibility of the diapositives as functional prototypes for the fixation tools “Scribly” and gripper “LaGara”, principally for the advantage in the performance for a manipulator industrial robot, and as a potential development and investigative model for the integrated system of electric tools of robotic arm end interchanger “GiroE”.
Description
Catalogado desde la version PDF de la tesis.
Keywords
BRAZO ROBOTICO , EOAT , IMPRESION 3D , PROTOTIPADO RAPIDO , PROTOTIPADO VIRTUAL , ROBOT MANIPULADOR