CONSTRUÇÃO E CONTROLE DE POSIÇÃO PARA UM ROBÔ PARALELO COM APLICAÇÃO NA INDÚSTRIA CONFECCIONISTA

• DOI: 10.22533/at.ed.6522023038

• Palavras-chave: Protótipo, controle PID, arquitetura paralela, robô delta, sistema de posicionamento.

• Keywords: Prototype, PID controller, parallel architecture, delta robot, positioning system.

• Abstract:

  This article describes the electromechanical design and position control

  of a prototype with parallel delta kinematic structure with three degrees of freedom for

  application in the confectionary industry. The proposal seeks a solution for the reduction

  of nonconformities in the mechanical finishes of the jeans confectionary industry,

  where the wear effects of the fabric are commonly obtained by manual processes

  compromising the final product standardization. The electromechanical assembly is

  driven by direct current motors and is interfaced by PWM power circuits, which receive

  control signals from a computerized system. It was studied a mathematical model to

  associate the coordinates of the moving cars and the final effector. Position controllers

  of the Proportional-Integrator-Derivative (PID) type were implemented using the Ziegler-

  Nichols tuning method. A supervisory program was created in Labview® that allows the

  visualization of the outputs and inputs of the position controllers by means of graphs

  plotted in real time, allowing the adjustment of PID constants also in real time. The

  controllers were validated and tested for each movement car, presenting a maximum

  positioning error of 2,14%, which was considered to be optimal for the confectionary

  application.

• Número de páginas: 14