Publication: Diseño de un brazo industrial neumático
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Publication date
2013
Defense date
2013-10-23
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Tutors
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Abstract
El presente proyecto desarrolla una parte importante de la ingeniería básica y de la
ingeniaría de detalle necesarias para la fabricación de un brazo robótico o robot industrial.
Existen unas particularidades en el diseño que lo diferencian de otros diseños existentes:
se utilizarán únicamente actuadores neumáticos lineales, se pretende conseguir un coste de
producción reducido para la fabricación de pocas unidades y se realizará un diseño sencillo
tanto para su instalación y puesta en marcha como para su mantenimiento.
Para desarrollar el diseño se utilizarán herramientas de software CAD-CAE de última
generación. Estas herramientas se utilizarán para el diseño mecánico y modelización, para
la simulación dinámica y análisis de mecanismo y para la elaboración y simulación del
esquema neumático.
Se va definir un proceso de diseño completo aplicable a este proyecto y se va a marcar el
objetivo de cumplir con varias de las tareas recogidas en el mismo, dejando para futuros
trabajos el desarrollo del resto de tareas.
En primer lugar se definirán las especificaciones básicas de diseño, se elaborará un
diseño preliminar y se procederá a su análisis. Posteriormente se irá afinando el diseño
hasta llegar a la versión definitiva.
Utilizando las herramientas CAD-CAE, se realizarán los cálculos y simulaciones
necesarios para la aprobación preliminar del diseño y se desarrollan los planos de
fabricación del equipo, lo que se ha denominado ingeniería de detalle.
Se recogerán unas nociones básicas sobre el uso de los programas CAD-CAE utilizados,
sin embargo, el objetivo es que el proyecto pueda servir de ejemplo práctico de cómo estas
herramientas nos ayudan en la fase de diseño de un equipo, no que sirva como manual de
uso de estos programas.
This project develops an important part of the basic engineering and the detail engineering required for the manufacture of a robotic arm or industrial robot. There are some peculiarities in the design that differentiate it from other existing designs: using only linear pneumatic actuators, to get a reduced production cost for making a few units and to get a simple design for installation and starting and for maintenance. In order to develop the design last generation CAD-CAE software tools will be used. These tools are used for the mechanical design and modeling, as well as, for the dynamic simulation and mechanism analysis, and for the design and simulation of the pneumatic scheme. A complete design process applicable to this project will be defined and the target of comply some task will be marked, leaving for future work the development of the rest of the tasks. First, the basic specifications of the design will be defined. A preliminary design and its analysis will be elaborated. Later, the design will be refined up to the final version. Using CAD-CAE tools, the calculations and simulations required for the preliminary approval will be performed and the design and manufacturing drawings of the machine will be developed, this is what we will call detail engineering. Basic notions about the use of the CAD-CAE programs used will be collected, however, the target is that the project can serve as a practical example of how these tools help us in the design phase of a machine, not to serve as a user manual of these programs.
This project develops an important part of the basic engineering and the detail engineering required for the manufacture of a robotic arm or industrial robot. There are some peculiarities in the design that differentiate it from other existing designs: using only linear pneumatic actuators, to get a reduced production cost for making a few units and to get a simple design for installation and starting and for maintenance. In order to develop the design last generation CAD-CAE software tools will be used. These tools are used for the mechanical design and modeling, as well as, for the dynamic simulation and mechanism analysis, and for the design and simulation of the pneumatic scheme. A complete design process applicable to this project will be defined and the target of comply some task will be marked, leaving for future work the development of the rest of the tasks. First, the basic specifications of the design will be defined. A preliminary design and its analysis will be elaborated. Later, the design will be refined up to the final version. Using CAD-CAE tools, the calculations and simulations required for the preliminary approval will be performed and the design and manufacturing drawings of the machine will be developed, this is what we will call detail engineering. Basic notions about the use of the CAD-CAE programs used will be collected, however, the target is that the project can serve as a practical example of how these tools help us in the design phase of a machine, not to serve as a user manual of these programs.
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Keywords
Brazo robótico, Diseño mecánico, Mecanismos, Neumática, Diseño asistido por ordenador