Desenvolvimento de um manipulador para a inspeção de corpos submersos

• Ano de defesa: 2020
• Autor(a) principal: Nogueira, Rafael de Castro Martins
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Tecnológica Federal do Paraná; Curitiba; Brasil; Programa de Pós-Graduação em Engenharia Elétrica e Informática Industrial; UTFPR
• Palavras-chave em Português: Robótica; Manipuladores (Mecanismo); Robôs - Sistemas de controle; Cinemática das máquinas - Análises; Servomecanismos; Robotics; Manipulators (Mechanism); Robots - Control systems; Machinery, Kinematics of - Analysis; Servomechanisms; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::ELETRONICA INDUSTRIAL, SISTEMAS E CONTROLES ELETRONICOS::AUTOMACAO ELETRONICA DE PROCESSOS ELETRICOS E INDUSTRIAIS; Engenharia Elétrica
• Link de acesso: http://repositorio.utfpr.edu.br/jspui/handle/1/27181

The efforts presented here approach development of an industrial real size manipulator, with a joint configuration inspired on the Titan 4 from TechnipFMC, capable of performing tasks to a submerged body. To develop this manipulator, a project was designed, based on the mechanical necessities, the predefined motors, the manipulator’s joint configuration and the reservoir to which bodied would be submerged. ROS was used to comunicate the controller, the drivers and the systems operation. An operating structure was developed that allowed the manipulator to operate in direct and inverse kinematic operation modes. To evaluate the operating structure, a testing scene was developed using Vrep to emulate the robotic arm, which was later adapted to validate secure manipulator operation. After validation, a sequence of precalculated joint space coordinates are sent periodically to the controller to command the manipulator. A repeatability test was executed on joints 1, 2 and 3 of the designed manipulator, to test its ability to repeat predetermined joint angles, and return safely to its origin. Finally an underwater test is performed to evaluate adequate operation in a submerged environment.