Modelagem de um robô com cabos flexíveis para aplicação em operações de transbordo de carga offshore

• Ano de defesa: 2018
• Autor(a) principal: Gonçalves, Renan Amorim
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal do Rio de Janeiro; Brasil; Instituto Alberto Luiz Coimbra de Pós-Graduação e Pesquisa de Engenharia; Programa de Pós-Graduação em Engenharia Mecânica; UFRJ
• Palavras-chave em Português: Transbordo de carga offshore; Robô; CNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAO
• Link de acesso: http://hdl.handle.net/11422/12167

In this dissertation, the Conceptual Project of the prototype of a mechanism that simulates the transfer of offshore cargoes is presented. This mechanism is composed of parallel manipulators, one being the Stewart Platform and the other a parallel robot whose actuators are steel cables. The objective is to simulate the transshipment of cargo at sea. The kinematic and the kinetic study was performed for both mechanisms, which are coupled by a metal structure. The kinematics of the cables are introduced considering the effect of the elasticity. The simulations are done in a prototype of 9-DOF (degrees of freedom) to validate the theoretical models. The results show the dynamic behavior of this system. The results demonstrate the dynamic behavior of this system, being the discretization in 10 points the one that presented better relation computational efficiency about the numerical precision for the deformation values of CAbLev cables