Adaptação de um manipulador flexível para dois graus de liberdade

Abstract

Robotic manipulators are mechanical systems controlled by software that perform pre-defined tasks applied typically to the movement of loads in industrial environments. Among these systems' the main advantages can be related to the movement of high payloads, a high level of safety, and a higher production rate. Furthermore, robotic manipulators can be used in unhealthy, high-pressure, or difficult-to-access locations. There are two groups of robotic manipulators: rigid and flexible. Flexible manipulators have been an alternative to reduce mass and energy demand and increase speed in the rigid manipulators. However, the challenge in the case of flexible manipulators is the position control due to the deformations in the components needs to be considered for positioning. This research advances the research line on flexible manipulators aiming to increase the second degree of freedom in a previously developed for a single degree of freedom. The manipulator movements are performed with DC motors controlled by MyRio 1900 hardware associated with LabView 2017 software. The conceptual design determined the solution for the mechanical system rotate 360° and has an axial movement of 70 mm. The control was performed using the Proportional Integral and Derivative (PID) approach and the motor rotation movements data logging was performed with the aid of encoders. The control performance was evaluated using the mean absolute error (MAE) as indicator, and values of 0.7 mm and 5.5° for the axial and angular movements have been obtained, respectively. Therefore, the manipulator confirms to be suitable for use and available for additional technological increment.