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Diseño Y Fabricación De Impresora 3D Basada En Robot Paralelo Tipo Delta – Ropar3d

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Diseño Y Fabricación De Impresora 3D Basada En Robot Paralelo Tipo Delta – Ropar3d TRABAJO FIN DE GRADO UNIVERSIDAD DE ALMERIA ESCUELATRABAJO FINSUPERIOR DE GRADO DE INGENIERÍA GRADO EN INGENIERÍA MECÁNICA “Diseño y fabricación de impresora 3D Diseñobasada eny robot paralelo tipo Delta – fabricaciónRoPar3D” de impresora 3D basada en robot paralelo tipo Delta – RoPar3D [Subtítulo del documento] UNIVERSIDAD DE ALMERÍA Curso 2019/2020 DiegoAlumno/a Miguel Parra: Martínez [Fecha] Diego Miguel Parra Martínez Director/es: Manuel Ángel Aguilar Torres Fernando José Aguilar Torres Diseño y fabricación de impresora 3D basada en robot paralelo tipo Delta – RoPar3D Autor Diego Miguel Parra Martínez Director Codirector Aguilar Torres, Manuel Ángel Aguilar Torres, Fernando José El presente Trabajo de Fin de Grado de la Escuela Superior de Ingeniería de la Universidad de Almería (UAL) se distribuye con licencia Creative Commons Reconocimiento-No comercial-Compartir Igual 4.0 International CC BY-NC-SA https://creativecommons.org/licenses/by-nc-sa/4.0/ A mis padres por su apoyo incondicional durante estos años ESCUELA SUPERIOR DE INGENIERÍA Contenido Agradecimientos 7 Relación de Figuras 8 Relación de Tablas 11 Glosario 12 Abreviaturas, Siglas y Acrónimos 16 1. Interés y objetivos 17 1.1. Introducción 17 1.2. Motivación personal 18 1.3. Justificación 19 1.4. Objetivos 20 2. MARCO TEÓRICO (I): ESTADO ACTUAL DE LA IMPRESIÓN 3D FDM 21 2.1 Definición y origen. 21 2.2 Prototipado Rápido vs Fabricación Aditiva. 22 2.3 Historia y evolución. 23 2.4 Movimiento RepRap, Movimiento Maker y DIY. 26 2.5 Ventajas de la impresión 3D. 27 2.6 Impresión 3D industrial vs. Impresión 3D doméstica. 30 2.7 Tecnologías de impresión 3D. 34 Modelado por Deposición Fundida (FDM) 39 3. MARCO TEÓRICO (II): ESTADO ACTUAL ROBOT PARALELO DELTA 49 3.1 Origen y definición hitos. 49 3.2 Uso actual. 50 4. ESTRUCTURA DEL TRABAJO Y CRONOGRAMA 51 4.1. Fases del proyecto. 51 4.2 Cronograma. 53 5. MATERIALES Y MÉTODOS. 56 5.1 Materiales. 56 Diseño y fabricación de impresora 3D basada en robot paralelo tipo Delta – RoPar3D UNIVERSIDAD DE ALMERIA Herramientas informáticas. 56 Máquina 3D materiales y pruebas de impresión. 57 Otros materiales. 58 5.2 Metodología. 59 6. DISEÑO Y FABRICACIÓN. 60 6.1 Análisis técnico-mecánico. 60 6.2 Diseño en 3D utilizando SolidWorks®. 63 6.2.1 Diseño estructura. 64 6.2.2 Diseño robot prototipo RoPar3D. 69 6.3 Prototipado de la máquina usando impresión 3D. 100 6.4 Creación de la lista de materiales (BOM) y selección de componentes. 116 Componentes Mecánicos 116 Componentes eléctricos 119 BOM 128 6.5 Electrónica y programación. 131 6.6 Puesta en marcha. 135 6.7 Estudio comparativo entre tipos de impresoras. 139 TEST 1: Cubo XYZ 139 TEST 2: Benchy 141 TEST 3: Jarrón 141 TEST 4: Búho 142 COMPARATIVA DE TIEMPOS 143 7. COMPETENCIAS. 144 7.1 Competencias básicas. 144 7.2 Competencias Curriculares Transversales (CCT). 146 7.3 Competencias Específicas. 147 8. RESULTADOS Y DISCUSIÓN. 149 8.1 Diseño de las piezas en SolidWorks®. 149 Diego Miguel Parra Martínez ESCUELA SUPERIOR DE INGENIERÍA 8.2 Construcción de Ropar3D. 149 9. VIABILIDAD ECONÓMICA. 151 10. VIABILIDAD AMBIENTAL. 152 11. CONCLUSIONES. 153 11.1 Conclusiones. 153 11.2 Conclusiones personales 154 11.3 Proyección de futuro. 154 11.4 Propuestas de mejora. 155 11.4.1 Cartelas en los perfiles 155 11.4.2. Cabezal láser. 156 11.4.3. Pinza hidráulica / Pinza de vacío para implementación robot “pick and place”. 156 11.4.5 Cubierta para tapar los motores y la parte electrónica. 157 11.4.6 Doble extrusión. 157 BIBLIOGRAFIA 158 ANEXOS 161 Diseño y fabricación de impresora 3D basada en robot paralelo tipo Delta – RoPar3D UNIVERSIDAD DE ALMERIA Agradecimientos El presente proyecto fin de grado fue realizado bajo la supervisión de D. Manuel Ángel Aguilar Torres y D. Fernando José Aguilar Torres a quienes me gustaría en este apartado de la memoria del TFG, expresar mi sincero agradecimiento por aceptar mi propuesta sin dudarlo. Además, agradezco su entusiasmo, asistencia e implicación continua durante la realización de todo el proyecto. También me gustaría dar las gracias a mi familia y amigos que me han apoyado y han estado siempre ahí en todos los momentos durante mis años de estudio. Sé que, sin ellos, sin su apoyo incondicional, este proyecto no habría sido posible. Por último, destacar a las personas más cercanas y más importantes para mí, y a quienes les dedico este proyecto: mis padres y mi pareja. Sin ellos no habría disfrutado tanto cada momento de la realización de este proyecto. Al igual que en mi vida personal, a lo largo de mis años de estudio y durante la elaboración de este proyecto, han sido un pilar fundamental y por ello les estaré eternamente agradecido. A todos, gracias. Diego Miguel Parra Martínez 7 ESCUELA SUPERIOR DE INGENIERÍA Relación de Figuras Figura 1: Diagrama de la impresora de Charles Hull vs. Impresora por Estereolitografía de 2015. 23 Figura 2: Experimento fotográfico del artista François Willème. 23 Figura 3: Imagen de la primera patente de impresión 3D por Charles Hull. 24 Figura 4: Ilustración del proceso de codificación de la información en formas geométricas. 25 Figura 5: Proceso del sinterizado selectivo por láser. 36 Figura 6: Proceso de fabricación por laminado (LOM). 37 Figura 7: Proceso de impresión por SLA. 38 Figura 8: Proceso de fabricación por extrusión de material fundido (FDM). 39 Figura 9: Eje de coordenadas. 42 Figura 10: Impresora CoreXY. y Sistema de movimiento impresora CoreXY. 44 Figura 11: Tipos de impresoras de arquitectura cartesiana. 45 Figura 12: Impresora 3D cartesiana vs. Impresoras 3D delta. 46 Figura 13: Diseño impresora 3D basada en robot paralelo tipo delta. 47 Figura 14: Diagrama robot paralelo. Fuente: Patente US. Nº(4,976,582) 49 Figura 15: Robot paralelo en línea de producción. 50 Figura 16: Anycubic Kossel Plus. 57 Figura 17: AM8, cartesiana diseño propio. 57 Figura 18: Diagramas cotas RoPar3D. 62 Figura 19: Perfil aluminio estructural Motedis - 20x20 Tipo-B Ranura 6. 64 Figura 20: Representación del volumen de trabajo del robot paralelo ABB IRB360 FlexPicker. 65 Figura 21: Diseño pieza esquinera. 65 Figura 22: Diseño pieza esquinera mediante SolidWorks®. 66 Figura 23: Diseño esquinera de la torre. 66 Figura 24: Estructura prototipo RoPar3D. 67 Figura 25:Base de impresión prototipo RoPar3D. 68 Figura 26: Detalle de la estructura con el soporte del cuerpo del robot del prototipo RoPar3D 68 Figura 27: Cota radio base del cuerpo del robot del prototipo RoPar3D. 69 Figura 28: Sistema tensor del cuerpo del robot del prototipo RoPar3D. 70 Figura 29: Detalle del soporte del cuerpo del robot del prototipo RoPar3D. 70 Figura 30: Detalle del soporte del cuerpo del robot del prototipo RoPar3D. 71 Figura 31: Diseño cuerpo RoPar3D. 72 Figura 32: Comparativa real Cuerpo prototipo y Cuerpo final. 72 Figura 33: Render diseño cuerpo final del robot RoPar3D. 73 Figura 34: Resultado estudio tensiones cuerpo prototipo robot. 73 Figura 35: Resultado estudio tensiones cuerpo final robot. 74 Figura 36: Resultado estudio desplazamientos cuerpo prototipo robot. 74 Figura 37: Resultado estudio desplazamientos cuerpo final robot. 75 Figura 38: Ensamblaje real cuerpo y brazos robot con motores. 75 Figura 39: Render diseño final unión cuerpo del robot RoPar3D. 76 Figura 40: Diseño del brazo prototipo robot del prototipo RoPar3D. 77 Figura 41: Vista explosionada del sistema de engranaje del brazo prototipo robot RoPar3D. 77 Figura 42: Detalle cuerpo con brazos y motores. 78 Diseño y fabricación de impresora 3D basada en robot paralelo tipo Delta – RoPar3D 8 UNIVERSIDAD DE ALMERIA Figura 43: Detalle rueda prototipo izquierda y rueda final derecha. Fuente: Elaboración propia. 78 Figura 44: Croquis envolvente del diente en rueda dentada y perfil de correa GT2. 80 Figura 45: Render diseño rueda dentada 80 dientes para correa GT2. 80 Figura 46: Diagrama solido libre brazo. 81 Figura 47: (Cargas)Ensayo de elementos finitos del brazo prototipo robot RoPar3D. 82 Figura 48: (Tensiones- VonMises). Ensayo de elementos finitos del brazo prototipo robot RoPar3D. 83 Figura 49: (Desplazamientos – URES (mm)). Ensayo de elementos finitos del brazo prototipo robot RoPar3D. 83 Figura 50: Segunda Iteración del diseño del prototipo del brazo de robot RoPar3D. 84 Figura 51: (Tensiones-VonMises). Ensayo de elementos finitos segunda iteración del brazo prototipo robot RoPar3D. 84 Figura 52: (Desplazamientos – URES (mm)). Ensayo de elementos finitos segunda iteración del brazo prototipo robot RoPar3D. 85 Figura 53: Ensamblaje RoPar3D prototipo SolidWorks®. 86 Figura 54: Tercera Iteración del diseño del prototipo del brazo de robot RoPar3D tras ensayo topológico. 86 Figura 55: Tercera Iteración del prototipo brazo de robot RoPar3D. 87 Figura 56: (Tensiones-VonMises). Ensayo de elementos finitos tercera iteración del brazo robot RoPar3D. 88 Figura 57: (Desplazamientos – URES (mm)). Ensayo de elementos finitos tercera iteración brazo robot RoPar3D. 88 Figura 58: Vista explosionada ensamblaje brazo RoPar3D. 89 Figura 59: Ensamblaje real del brazo. Fuente: Elaboración propia. 89 Figura 60: Logo en brazo RoPar3D . Fuente: Elaboración propia. 90 Figura 61: Ensamblaje conjunto efector SolidWorks®. Fuente: Elaboración propia. 90 Figura 62: Modelo 3D efector con parámetros característicos . 91 Figura 63: Detalle ensamblaje final de carrera prototipo SolidWorks®. 91 Figura 64: Detalle ensamblaje final de carrera SolidWorks®. 92 Figura 65: Diseño soporte electrónica SolidWorks®. 93 Figura 66: Diseño soporte placa SBC - Orange Pi (mini pc) SolidWorks®. 93 Figura 67: Diseño soporte mosfet externo cama caliente SolidWorks®. 93 Figura 68: Diseño soporte conector interruptor de alimentación SolidWorks®. 94 Figura 69: Ensamblaje plataforma de impresion SolidWorks®. 94 Figura 70: Soporte portabobinas SolidWorks®. Fuente: Elaboración propia. 95 Figura 71: Refuerzos de esquineras SolidWorks®. Fuente: Elaboración propia. 96 Figura 72: Escuadras SolidWorks®. Fuente: Elaboración propia. 97 Figura 73: RoPar3D primer prototipo. 97 Figura 74: Vista 1 Ensamblaje RoPar3D final en SolidWorks®.
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