Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
DYNAMICS OF A CARDAN ACTIVE JOINT FOR ROBOTIC APPLICATIONS
Submission Author:
Jean Carlo Ferreira Oliveira , ES
Co-Authors:
Jean Carlo Ferreira Oliveira, Hans Ingo Weber
Presenter: Jean Carlo Ferreira Oliveira
doi://10.26678/ABCM.COBEM2019.COB2019-2349
Abstract
The use of active joints is restricted by torque capacity of small motors, and embedded devices have been mandatory for robotic applications. In this paper, a new concept of robotic manipulator driven by cardan joints with three-degrees-of-freedom was introduced. Dynamic control is essential to learn the limitations of these devices, so the objective of this study is to control active cardan joints with three degrees of freedom using experimental and numerical simulations. The manipulator was designed with only one cardan joint to understand its kinematics and dynamics, for this reason, it was built with load sensors on the base and two inertial motion unit sensors, one inside the joint and the other at the top of the manipulator end factor. Furthermore, three control boards were manufactured: the first was designed to control the three stepper motor drives, the second was designed to read the inertial motion unit sensors, and the last was designed to read the load sensors. Three problem were described, but only one was developed, in which, the joint should keep the position x, y, z constant with the rotation alpha of the cardan. A new dynamic notation is introduced to clarify and simplify the mathematics used to describe the dynamics of a 3D rigid body to solve the forwards and inverse kinematics , and the numerical results from the physical model are compared with the experimental ones, to set the limits of angles and angular velocities.
Keywords
Cardan joints, Active joints, Robotic applications
