Otimização do desempenho dinâmico de robôs acionados por cabos com redundância cinemática

Abstract

Robotic manipulators are used in several applications. With this, the scientific community is increasingly seeking to improve the performance of these robots. One technique that allows such improvement is kinematic redundancy, which consists of adding degrees of freedom to the manipulator, beyond the minimum necessary, for the execution of a task. Among parallel robots, the cable-driven robots stand out due to their ability to perform with high speed and acceleration, besides having cables in place of the usual rigid links. However, for this type of robot, studies that address redundancy do not explore the possibility of increasing the manipulator's dynamic performance. With that, a numerical model of a planar parallel cable-driven robot was implemented in the software MATLAB and the impact of kinematic redundancy was defined by prepositioning the redundant joints. Through an optimization algorithm it was possible to compare different strategies of redundancy resolution, in order to minimize the forces acting on the cables during the execution of the trajectory. Based on the numerical models developed, the results prove an increase in the dynamic performance of the redundant manipulator when compared to the non-redundant model, besides offering new ways to improve the different robot characteristics.