Oliveira, Adilson José deBatista, Lucas Damasceno de Araújo2025-01-082025-01-082024-10-28BATISTA, Lucas Damasceno de Araújo. Desenvolvimento da instrumentação para um protótipo de sistema flexível de manufatura. Orientador: Dr. Adilson José de Oliveira. 2024. 125f. Dissertação (Mestrado em Engenharia Mecânica) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2024.https://repositorio.ufrn.br/handle/123456789/61072Industry 4.0 concept enables the manufacturing of several products by integrating traditional processes to information technologies. This concept applies to Flexible Manufacturing Systems (FMS), which consist of automated sets of several machine tools, typically controlled by numerical controls (CNCs), and interconnected by a system for transporting, handling and storing products. A centralized system for decision-making is responsible for controlling this grouping. The FMS may have a digital twin for operational tests. The main objective of this study was to develop a prototype FMS composed of a conveyor belt and a robotic manipulator with 6 degrees of freedom, instrumented with transducers for localization and recognition of objects (color, shape, and QR Code). Computer vision routines were developed to recognize visual attributes of the objects contained on the conveyor belt. A control based on inverse kinematics by the algebraic method aimed to manipulate these recognized objects on the conveyor belt to predefined locations and based on these visual attributes. A camera and a laser transducer associated with a MyRIO 1900 microcontroller instrumented the prototype. The LabVIEW® software allowed the development of the computational routines described; and the Unity® software, the implementation of a Digital Twin for the prototype. The laser transducer identified the presence of objects in 76% of the cases and activated and deactivated the computer vision routines in specific situations. The manipulation of objects followed a path defined by a 4th-order Bézier parametric equation. The Digital Twin moved the virtual system based on data received from the physical system of the FMS prototype via LAN communication in less than 2 ms and without loss of information.Acesso AbertoSistema flexível de manufaturaInstrumentaçãoVisão computacionalCinemática inversaManipuladormasterThesisCNPQ::ENGENHARIAS::ENGENHARIA MECANICA