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Authors
Abstract(s)
A evolução das tecnologias de informação e os grandes avanços na área da inteligência artificial,
estão a conduzir a um nível de automatização até agora nunca alcançado. Grande parte desta
automatização deve-se ao recurso a robôs. Apesar dos primeiros robôs industriais terem surgido
na década de 60 e serem amplamente aceites como uma forma de melhoria da qualidade e da
produtividade, as questões como segurança dos humanos, equipamentos e elevado custo para
aquisição desta tecnologia, faziam com que esses robôs devessem operar dentro de células de
fabrico para garantir a segurança ao seu redor. Dada as necessidades dos robôs colaborarem em
simultâneo ou em paralelo com os humanos, diante desses desafios, uma nova geração de robô,
designados Cobots, “Collaborative Robots”, está a ganhar destaque. Com os Cobots é possível
ultrapassar as barreiras de segurança e perspetivar um trabalho lado a lado com os humanos em
segurança. Ainda assim, e tal como até então, o custo destas tecnologias é demasiado elevado para
uma grande maioria das empresas.
Este trabalho apresenta o desenvolvimento e teste de um braço robótico colaborativo articulado
com 6 eixos, de baixo custo, dentro dos padrões estandardizados, podendo ser utilizado em
diferentes aplicações. O desenvolvimento deste robô colaborativo requereu o projeto e impressão
3D da estrutura (elos e peças), dimensionamento e seleção dos circuitos e/ou componentes
eletrónicos, programação e controlo. No âmbito do trabalho, foi também desenvolvida de uma
aplicação computacional e respetivo interface com utilizador para definição de sequências de
movimentos e/ou para control0 remoto. A solução tecnológica desenvolvida nesta dissertação
permite estender ainda mais a aplicação da robótica colaborativa a setores e aplicações,
industriais, de serviços e até mesmo educacionais, que por questões dos custos associados se
encontram restritas. Em particular, no âmbito de aplicações educacionais, o robô colaborativo e
a ferramenta computacional de programação, permitem consolidar o conhecimento nos conceitos
fundamentais associados à cinemática e dinâmica do movimento de braços robóticos, assim como
na mecânica, eletrónica e controlo inerente aos componentes que compõem a solução tecnológica.
The evolution of information technology and the great advances in artificial intelligence are leading to a level of automation that has never been reached before. A large part of this automation is due to the use of robots. Although the first industrial robots appeared in the 1960s and were widely accepted as a way to improve quality and productivity, issues such as human safety, equipment and the high cost of acquiring this technology meant that these robots had to operate inside manufacturing cells to ensure safety around them. Given the needs of robots to collaborate simultaneously or in parallel with humans, in the face of these challenges, a new generation of robots, called Cobots, "Collaborative Robots", are gaining prominence. With Cobots it is possible to overcome security barriers and to envisage working safely side by side with humans. Still, as before, the cost of these technologies is too high for most companies. This work aims to develop and test a low-cost 6-axis articulated collaborative robotic arm, within standardized standards, which can be used in different applications. The development of this collaborative robot involves the design and 3D printing of the structure (links and parts), sizing and selection of circuits and/or electronic components, programming, and control. Also, part of this work is the development of a computational application and respective user interface for defining movement sequences and/or for remote control. The technological solution developed in this dissertation makes it possible to further extend the application of collaborative robotics to industrial, service and even educational sectors and applications, which due to the associated costs are restricted. In the scope of educational applications, the collaborative robot and the computational programming tool allow the consolidation of knowledge in the fundamental concepts associated with the kinematics and dynamics of the movement of robotic arms, as well as in the mechanics, electronics, and control inherent to the components that compose the technological solution.
The evolution of information technology and the great advances in artificial intelligence are leading to a level of automation that has never been reached before. A large part of this automation is due to the use of robots. Although the first industrial robots appeared in the 1960s and were widely accepted as a way to improve quality and productivity, issues such as human safety, equipment and the high cost of acquiring this technology meant that these robots had to operate inside manufacturing cells to ensure safety around them. Given the needs of robots to collaborate simultaneously or in parallel with humans, in the face of these challenges, a new generation of robots, called Cobots, "Collaborative Robots", are gaining prominence. With Cobots it is possible to overcome security barriers and to envisage working safely side by side with humans. Still, as before, the cost of these technologies is too high for most companies. This work aims to develop and test a low-cost 6-axis articulated collaborative robotic arm, within standardized standards, which can be used in different applications. The development of this collaborative robot involves the design and 3D printing of the structure (links and parts), sizing and selection of circuits and/or electronic components, programming, and control. Also, part of this work is the development of a computational application and respective user interface for defining movement sequences and/or for remote control. The technological solution developed in this dissertation makes it possible to further extend the application of collaborative robotics to industrial, service and even educational sectors and applications, which due to the associated costs are restricted. In the scope of educational applications, the collaborative robot and the computational programming tool allow the consolidation of knowledge in the fundamental concepts associated with the kinematics and dynamics of the movement of robotic arms, as well as in the mechanics, electronics, and control inherent to the components that compose the technological solution.
Description
Keywords
Circuito Eletrónico Controlo Humanos Impressão 3d Pla Programação Robô Robô Colaborativo Segurança Tecnologias