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Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas

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Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas

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dc.contributor.advisor Tornero Montserrat, Josep es_ES
dc.contributor.advisor Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Andrés de la Esperanza, Francisco Javier es_ES
dc.date.accessioned 2011-04-01T06:23:48Z
dc.date.available 2011-04-01T06:23:48Z
dc.date.created 2011-03-25T09:00:00Z es_ES
dc.date.issued 2011-04-01T06:23:39Z es_ES
dc.identifier.uri http://hdl.handle.net/10251/10627
dc.description.abstract The main interest of this thesis consists of the study and implementation of postprocessors to adapt the toolpath generated by a Computer Aided Manufacturing (CAM) system to a complex robotic workcell of eight joints, devoted to the rapid prototyping of 3D CAD-defined products. It consists of a 6R industrial manipulator mounted on a linear track and synchronized with a rotary table. To accomplish this main objective, previous work is required. Each task carried out entails a methodology, objective and partial results that complement each other, namely: - It is described the architecture of the workcell in depth, at both displacement and joint-rate levels, for both direct and inverse resolutions. The conditioning of the Jacobian matrix is described as kinetostatic performance index to evaluate the vicinity to singular postures. These ones are analysed from a geometric point of view. - Prior to any machining, the additional external joints require a calibration done in situ, usually in an industrial environment. A novel Non-contact Planar Constraint Calibration method is developed to estimate the external joints configuration parameters by means of a laser displacement sensor. - A first control is originally done by means of a fuzzy inference engine at the displacement level, which is integrated within the postprocessor of the CAM software. - Several Redundancy Resolution Schemes (RRS) at the joint-rate level are compared for the configuration of the postprocessor, dealing not only with the additional joints (intrinsic redundancy) but also with the redundancy due to the symmetry on the milling tool (functional redundancy). - The use of these schemes is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. Two innovative fuzzy inference engines actively adjust the weight of each joint in these tasks. es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.rights Reserva de todos los derechos es_ES
dc.source Riunet
dc.subject Robot es_ES
dc.subject Milling es_ES
dc.subject Redundancy es_ES
dc.subject Fuzzy es_ES
dc.subject Manipulator es_ES
dc.subject Prototyping es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas
dc.type Tesis doctoral es_ES
dc.identifier.doi 10.4995/Thesis/10251/10627 es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Andrés De La Esperanza, FJ. (2011). Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10627 es_ES
dc.description.accrualMethod Palancia es_ES
dc.type.version info:eu-repo/semantics/acceptedVersion es_ES
dc.relation.tesis 3517 es_ES


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