Estudo analítico-experimental de um mecanismo articulado para manipulação remota

• Ano de defesa: 1978
• Autor(a) principal: Rodrigues, Fernando José Mayer
• 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: Robôs insdustriais; Sistemas mecânicos; CNPQ::ENGENHARIAS::ENGENHARIA MECANICA::PROJETOS DE MAQUINAS::ROBOTIZACAO
• Link de acesso: http://hdl.handle.net/11422/3580

The main concern of this work is to develop a basic experimental-analytic study which aims to design an articulated arm to be used in a remote handling device. An articulated spherical joint system has been idealized and a prototype of this system, developed. A solution to the joint stability problem is proposed as well as the joint friction has its behavior modeled throughout a matematical formulation. The calculational framework considers the overall system as an arm working as an horizontal cantilever beam having one of its ends free. Measurements on the prototype static deflections were performed to prove the consistence of the matematical model proposed.