Eventos Anais de eventos
CREEM2025
CREEM 2025 - XXXI Congresso Nacional de Estudantes de Engenharia Mecânica Congresso Nacional de Estudantes de Engenharia Mecânica
Análise de Erros Dimensionais em Robôs Manipuladores Impressos em 3D
Submission Author:
João Vítor Franke Goetz , Brazil
Co-Authors:
João Vítor Franke Goetz, Roberto Simoni, Wagner Maurício Pachekoski, Luan Meneghini, Henrique Simas
Presenter: João Vítor Franke Goetz
doi://10.26678/ABCM.CREEM2025.CRE2025-0091
Abstract
The advancement of techniques that have facilitated manufacturing and prototyping through Additive Manu- facturing has brought new concepts applied in various fields. In the scope of robotics, never before has so much been produced, thanks to the popularization and increased accessibility of methods such as Fused Filament Fabrication (FFF) and Stereolithography (SLA). Modeling a concept and building an idea has become practical and fast; however, little consideration is given to the usability and quality of these prototypes. To assess their accuracy, we conducted a review of the main causes of geometric errors in parts after fabrication, verifying them based on a reference model 3D-printed with the most accessible materials (PLA and Standard Resin) using the most common methods (FFF and SLA). With the variations properly evaluated and analyzed, the errors were calculated and simulated in the Python language using the Denavit-Hartenberg convention for the forward kinematics of robotic manipulators, analyzing their impact on position and orientation, and comparing the prediction without errors to the one with errors. In this way, we concluded that manipulators, even with dimensional deviations, can be used in many practical applications without significant losses.
Keywords
Additive manufacturing, Geometric Errors, Denavit-Hartemberg Convention, Simulation
