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A Programmable Six-axis Compliant Device based on a Gough-Stewart parallel platform

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dc.contributor Universitat de Vic - Universitat Central de Catalunya. Facultat de Ciències i Tecnologia
dc.contributor.author Martínez Sánchez, Sergi
dc.date.accessioned 2019-01-09T13:28:23Z
dc.date.available 2019-01-09T13:28:23Z
dc.date.created 2018-09
dc.date.issued 2018-09
dc.identifier.uri http://hdl.handle.net/10854/5635
dc.description Curs 2017-2018 es
dc.description.abstract The goal of this project is to develop a system able to control the movement of a parallel platform according to the external forces applied to it. The project includes 1) the Gough-Steward parallel robot, created and assembled at IRI’s lab; 2) 6 Dynamixel rotatory actuators, to move the platform; 3) an OpenCM 9.04 microcontroller board to get the reading of the forces provided by 4) a conditioning circuit for the 5) 6 load-cells located at each arms of the platform. In this project it is described how the communication between the actuators, the electronic board and the computer, which acts as the master, is established. It is specified what kind, and how, the communication is performed between each device in order to send and receive data. Finally, the proper kinematic study has been done to set the different configurations that the platform demands according the identification of the forces applied over the platform. es
dc.format application/pdf es
dc.format.extent 94 p. es
dc.language.iso eng es
dc.rights Aquest document està subjecte a aquesta llicència Creative Commons es
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/es/ es
dc.subject.other Robòtica es
dc.subject.other Màquines-eines -- Disseny i construcció
dc.title A Programmable Six-axis Compliant Device based on a Gough-Stewart parallel platform es
dc.type info:eu-repo/semantics/bachelorThesis es
dc.rights.accesRights info:eu-repo/semantics/openAccess es

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