Tesis doctoral de Javier Andres De La Esperanza
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: Â 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. Â 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. Â 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. Â 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). Â 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. the resulting whole system is validated in a real prototyping of an orographic model and a Valencian falla.
Datos académicos de la tesis doctoral «Postprocesamiento cam-robotica orientado al prototipado y mecanizado en celulas robotizadas complejas«
- Título de la tesis: Postprocesamiento cam-robotica orientado al prototipado y mecanizado en celulas robotizadas complejas
- Autor: Javier Andres De La Esperanza
- Universidad: Politécnica de Valencia
- Fecha de lectura de la tesis: 25/03/2011
Dirección y tribunal
- Director de la tesis
- Josep Tornero Montserrat
- Tribunal
- Presidente del tribunal: justo Nieto nieto
- Carlos Vila pastor (vocal)
- Antonio Guerrero gonzález (vocal)
- María no Marcos barcena (vocal)