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Departamento De Ciencias De La Energía Y Mecánica DEPARTAMENTO DE CIENCIAS DE LA ENERGÍA Y MECÁNICA CARRERA DE INGENIERÍA MECATRÓNICA PROYECTO DE TITULACIÓN PREVIO A LA OBTENCIÓN DEL TÍTULO DE INGENIERO EN MECATRÓNICA AUTORES: MORILLO POVEDA EDUARDO ANDRÉS PORTERO IBARRA JUAN CARLOS TEMA: “DISEÑO Y CONSTRUCCIÓN DE UN PROTOTIPO DE ROBOT BÍPEDO AUTÓNOMO CON DESPLAZAMIENTO DINÁMICO PARA EL LABORATORIO DE ROBÓTICA INDUSTRIAL DE LA ESPE EXTENSIÓN LATACUNGA.” DIRECTOR: ING. MARCO SINGAÑA CODIRECTORA: ING. JACQUELINE LLANOS LATACUNGA, AGOSTO 2014 ii UNIVERSIDAD DE LAS FUERZAS ARMADAS – ESPE CARRERA DE INGENIERÍA MECATRÓNICA CERTIFICADO ING. MARCO SINGAÑA (DIRECTOR) ING. JACQUELINE LLANOS (CODIRECTORA) CERTIFICAN: Que el trabajo titulado “Diseño y construcción de un prototipo de robot bípedo autónomo con desplazamiento dinámico para el laboratorio de Robótica Industrial de la ESPE Extensión Latacunga” realizado por los señores: EDUARDO ANDRÉS MORILLO POVEDA y JUAN CARLOS PORTERO IBARRA, ha sido guiado y revisado periódicamente y cumple normas estatuarias establecidas por la ESPE, en el Reglamento de Estudiantes de la Universidad de las Fuerzas Armadas - ESPE. Latacunga, Agosto del 2014. ____________________ _______________________ ING. MARCO SINGAÑA ING. JACQUELINE LLANOS DIRECTOR CODIRECTORA iii UNIVERSIDAD DE LAS FUERZAS ARMADAS – ESPE CARRERA DE INGENIERÍA MECATRÓNICA AUTORÍA DE RESPONSABILIDAD NOSOTROS, EDUARDO ANDRÉS MORILLO POVEDA JUAN CARLOS PORTERO IBARRA DECLARAMOS QUE: El proyecto de grado denominado “Diseño y construcción de un prototipo de robot bípedo autónomo con desplazamiento dinámico para el laboratorio de Robótica Industrial de la ESPE Extensión Latacunga”, ha sido desarrollado con base a una investigación exhaustiva, respetando derechos intelectuales de terceros, conforme a las referencias que constan en las páginas correspondientes, cuyas fuentes se incorporan en la bibliografía. Consecuentemente este trabajo es de nuestra autoría. En virtud de esta declaración, nos responsabilizamos del contenido, veracidad y alcance científico del proyecto de grado en mención. Latacunga, Agosto del 2014. _________________________ _____________________ EDUARDO MORILLO POVEDA JUAN PORTERO IBARRA. CC. No.- 1802825958 CC. No.- 1804637674 iv UNIVERSIDAD DE LAS FUERZAS ARMADAS – ESPE CARRERA DE INGENIERÍA MECATRÓNICA AUTORIZACIÓN NOSOTROS, EDUARDO ANDRÉS MORILLO POVEDA JUAN CARLOS PORTERO IBARRA Autorizamos a la Universidad de las Fuerzas Armadas - ESPE la publicación, en la biblioteca virtual de la Institución del trabajo denominado “Diseño y construcción de un prototipo de robot bípedo autónomo con desplazamiento dinámico para el laboratorio de Robótica Industrial de la ESPE Extensión Latacunga” cuyo contenido, ideas y criterios son de nuestra exclusiva responsabilidad y autoría. Latacunga, Agosto del 2014. _________________________ _____________________ EDUARDO MORILLO POVEDA JUAN PORTERO IBARRA. CC. No.- 1802825958 CC. No.- 1804637674 v DEDICATORIA Dedico este trabajo a mis padres Eduardo y Adela, que con todo su cariño, sabiduría y esfuerzo me han guiado durante toda mi vida; también dedico este trabajo a mi enamorada Valeria, sin ella mi vida no sería la misma, gracias a su amor incondicional e salido adelante en los momentos más difíciles y finalmente a mi amigo Juan Carlos, durante toda la carrera universitaria ha sido más que un compañero, un amigo de verdad y juntos logramos culminar este trabajo que nos costó mucho esfuerzo y dedicación pero finalmente lo logramos. Eduardo Andrés. [email protected] A Dios por permitirme seguir aquí para llevar acabo mis sueños. A mis padres Cristóbal y Marlene que con su cariño, comprensión, ternura y sacrificio me han llevado a ser un profesional y más que eso una persona cabal y llena de principios. A mi tío Celiano que por causas del destino ya no se encuentra junto a mí, gracias por enseñarme que con valor y perseverancia todo es posible. A mis hermanos que con su ejemplo y consejos me ayudan a mejorar día con día. A mis dos sobrinitas que con sus ocurrencias me alegran el corazón y me inspiran a ser mejor. Finalmente a mi amigo Eduardo que más que un amigo se convirtió en un hermano, gracias por el apoyo y esfuerzo brindado sigamos adelante nos esperan más retos. Para ustedes y toda mi familia va dedicado la realización de este proyecto. Juan Carlos. [email protected] vi AGRADECIMIENTO Agradecemos a Dios por brindarnos el despertar de cada día para lograr este sueño tan anhelado de culminar nuestra carrera universitaria. El agradecimiento más especial y lleno de cariño a nuestros Padres, fuente inagotable de apoyo incondicional en la lucha por alcanzar nuestro sueño, gracias porque debido a sus sacrificios y su paciencia han guiado nuestro andar para que hoy en día podamos llegar a ser personas de bien y profesionales responsables. A nuestros hermanos que han sido amigos sinceros e inseparables, que con su compañía durante toda nuestra vida fueron otra guía en nuestro andar, con cariño o frialdad un sabio consejo siempre nos podían entregar. También no podemos olvidar aquellos compañeros de lucha que con sus ocurrencias y modo de actuar llenaron de buenas y malas experiencias, gracias a todos nuestros amigos y amigas. A los docentes de la ESPE Extensión Latacunga que fueron los encargados de nuestra formación durante todos estos años. Finalmente un agradecimiento especial a los ingenieros Marco Singaña y Jacqueline Llanos, quienes con sus conocimientos y palabras de apoyo nos supieron guiar y alentar a completar el desarrollo de nuestra tesis. vii ÍNDICE DE CONTENIDOS CERTIFICADO ..................................................................................................................... I AUTORÍA DE RESPONSABILIDAD .................................................................................. III AUTORIZACIÓN ................................................................................................................ IV DEDICATORIA .................................................................................................................... V AGRADECIMIENTO .......................................................................................................... VI ÍNDICE DE CONTENIDOS ............................................................................................... VII ÍNDICE DE TABLAS ......................................................................................................... XII ÍNDICE DE FIGURAS ...................................................................................................... XIII RESUMEN ...................................................................................................................... XXI ABSTRACT .................................................................................................................... XXII PRESENTACIÓN .......................................................................................................... XXIII CAPÍTULO I GENERALIDADES.............................................................................................................. 1 1.1. INTRODUCCIÓN. .............................................................................................. 1 1.1.1. ROBÓTICA. .......................................................................................... 1 1.1.2. ROBOT. ................................................................................................ 2 1.1.3. LEYES DE LA ROBÓTICA. .................................................................. 2 1.1.4. HISTORIA DE LA ROBÓTICA. ............................................................ 3 1.1.5. MORFOLOGÍA DEL ROBOT. .............................................................. 6 a. ESTRUCTURA MECÁNICA. ................................................................ 6 b. SISTEMA DE ACCIONAMIENTO. ....................................................... 6 c. SISTEMA SENSORIAL. ....................................................................... 6 d. SISTEMA DE CONTROL. .................................................................... 7 e. ELEMENTOS TERMINALES. .............................................................. 7 1.2. ROBOTS BÍPEDOS. .......................................................................................... 8 1.2.1. ROBÓTICA MÓVIL. .............................................................................. 8 1.2.2. ROBÓTICA BÍPEDA. ............................................................................ 9 1.2.3. HISTORIA DE LA ROBÓTICA BÍPEDA. ............................................ 10 1.2.4. LOCOMOCIÓN HUMANA. ................................................................. 22 a. CICLO DE LA MARCHA. .................................................................... 23 viii 1.2.5. LOCOMOCIÓN DE ROBOTS BÍPEDOS. .......................................... 24 a. LOCOMOCIÓN ESTÁTICA. ............................................................... 24 b. LOCOMOCIÓN DINÁMICA. ............................................................... 25 1.2.6. CINEMÁTICA DE ROBOTS BÍPEDOS. ............................................. 25 a. CINEMÁTICA DIRECTA. .................................................................... 25 a.1 MATRIZ DE TRANSFORMACIÓN HOMOGÉNEA. ........................... 26 a.2 REPRESENTACIÓN DE DENAVIT HARTENBERG (D-H). ............... 28 a.3 ALGORITMOS D-H PARA MODELADO CINEMÁTICO DIRECTO. .. 29 b. CINEMÁTICA INVERSA. .................................................................... 31 1.2.7. DINÁMICA DE ROBOTS BÍPEDOS. .................................................
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