Análise cinemática inversa e fabricação do Robô Tripteron 3D com eixos paralelos

Abstract

The 3D tripteron mechanism with parallel axes is a parallel robot that has three de-grees of freedom. This means that it is capable of moving in three different directions without the need for additional movements. This characteristic makes the tripteron a useful tool in various applications, such as industry, medicine, mobile robotics, among others. The objective of this work is to manufacture a prototype and obtain a mathema. tical model capable of describing the positions of the mechanism, as well as determining its velocities and accelerations. The inverse kinematic analysis of the tripteron is im-portant to understand the robot's movement and how it can be controlled to perform specific tasks. To achieve this objective, the method adopted consists of performing a geometric study of the mechanism based on the laws of trigonometry to determine the angles between the robot's arms. The technique used was vector analysis. Based on the kinematic analysis and the input data provided by the user, it was possible to determine the speed and acceleration of the tripteron arms as a response. The position of the arms was determined from the analysis of the mechanism's geometry and the application of trigonometry laws that relate the angles and lengths of each of the tripteron arms. These results are of fundamental importance for understanding the behavior of the mechanism under different operating conditions, allowing the design of more efficient and precise con-trol systems. The prototype was manufactured using 3D printing techniques on an Fused Deposition Modeling printer. The assembly was carried out using a virtual model of the machine for a better understanding of the physical limits of the mechanism as well as its movements