Projeto, construção e controle de um manipulador robótico atuado por músculos de McKibben

• Ano de defesa: 2021
• Autor(a) principal: Vinícius Avelino Sena
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Minas Gerais; Brasil; ENG - DEPARTAMENTO DE ENGENHARIA MECÂNICA; Programa de Pós-Graduação em Engenharia Mecanica; UFMG
• Palavras-chave em Português: Controle de posição; Manipulador robótico; Músculos pneumáticos artificiais; Músculo de Mckibben; Controlador PID; Engenharia mecânica; Manipuladores (Mecanismo); Controladores PID
• Link de acesso: http://hdl.handle.net/1843/39930

Currently, there is a search in the international market for more economical processes, which at the same time pollute less the environment. In this context, pneumatic actuators emerge, which stand out mainly in the industrial environment to present important advantages when compared to other technologies. Among them, McKibben's Artificial Pneumatic Muscles have gained notoriety in recent years, for having employability both in industrial equipment, as well as in rehabilitation orthoses and humanoid robotic devices. In view of the benefits of the aforementioned technology, this work proposes the construction of a robotic manipulator actuated by Mckibben muscles and the development of a control system for the designed device. Both in the making of the actuator and in the use of the components were used at low cost and easy to be found on the market, an end to the development of an accessible system, with ease for large-scale manufacturing. Through the results obtained, it was possible to observe that the system met the project expectations, satisfactory results when subjected to disturbances. Another point to be mentioned is the fact that the device was built to the requirements of the ISO / TS 15066 standard. This adequacy allows the developed manipulator to be used by man in a safe way.