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Disseny, Construcció I Control D'una Mà Robòtica

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Disseny, Construcció I Control D'una Mà Robòtica Disseny, construcció i control d’una mà robòtica. Memòria del Projecte Final de Carrera (PFC) Enginyeria Tècnica en Informàtica de Gestió FACULTAT D’INFORMÀTICA DE BARCELONA (FIB) UNIVERSITAT POLITÈCNICA DE CATALUNYA (UPC) BarcelonaTech Autor: Oriol López Guirao Directora: Alícia Casals Gelpí Departament: Eng.Sistemes, Automàtica i Inf.Ind. 1 Índex 1 Introducció ................................................................................................................................................. 4 1.1 Objectius generals ....................................................................................................................................... 4 1.2 Motivacions personals ................................................................................................................................. 5 2 Anàlisi de mercat, estat de l’art ................................................................................................................. 6 2.1 Antecedents: ................................................................................................................................................ 6 2.2 Anàlisi de mercat: mans robòtiques orientades a humanoides ................................................................... 8 2.3 Anàlisi de mercat: mans robòtiques basades en Dynamixel ....................................................................... 12 2.4 Anàlisi del mercat d’actuadors ................................................................................................................... 15 2.4.1 Actuadors - tecnologíes disponibles: ............................................................................................................................ 15 2.4.2 Estudi de mercat: servomotors .................................................................................................................................... 16 2.4.3 Tendons: tecnologíes disponibles ................................................................................................................................ 19 2.4.5 Anàlisi del procés de construcció ................................................................................................................................. 20 2.5 Anàlisi de requeriments de la mà ............................................................................................................... 22 2.6 Especificacions de la mà ............................................................................................................................. 24 2.7 Especificació del disseny ............................................................................................................................ 25 2.8 Especificació del control ............................................................................................................................. 25 3 Disseny mecànic ....................................................................................................................................... 27 3.1 Estratègia i disseny de falanges ................................................................................................................. 27 3.1.1 Articulació .................................................................................................................................................................... 27 3.1.2 El circuit de tendons ..................................................................................................................................................... 28 3.1.2 Roda de tracció ............................................................................................................................................................ 29 3.2 Disseny del palmell .................................................................................................................................... 31 3.3 Plataforma de testeig - Braç articulat ........................................................................................................ 33 4 Control ..................................................................................................................................................... 35 4.1 Cinemàtica ................................................................................................................................................. 35 4.1.1 Cinemàtica Directa (Forward Kinematics) .................................................................................................................... 37 4.1.2 Implementació de la cinemàtica directa: convenció de Denavit-Hartenberg .............................................................. 38 4.1.3 Cinemàtica Inversa ....................................................................................................................................................... 42 4.1.4 Cinemàtica de velocitat ................................................................................................................................................ 43 4.1.5 El càlcul Jacobià ............................................................................................................................................................ 46 4.1.6 Evitant la singularitat.................................................................................................................................................... 50 4.2 ROS ............................................................................................................................................................ 51 4.2.1 Descripció general del sistema desenvolupat en ROS .................................................................................................. 52 4.2.2 Nodes Implementats en ROS ........................................................................................................................................ 54 2 5 Anàlisi econòmic ...................................................................................................................................... 62 6 Conclusions .............................................................................................................................................. 64 Agraïments ...................................................................................................................................................... 65 Bibliografía ...................................................................................................................................................... 65 Annex 1 Control de baix nivell: microcontroladors .................................................................................... 67 A1.1 Servomotors estàndard VS Dynamixel ..................................................................................................... 67 A1.1.2 Polsos PWM i SD84 .................................................................................................................................................... 68 A1.1.3 Microcontroladors Atmel Atmega ............................................................................................................................. 68 A1.1.4 Programadora AVR Atmel Dragon ............................................................................................................................. 69 A1.2 Protocol Half Duplex RS232 / TTL aplicat a Dynamixel ............................................................................. 73 A1.2.1 Control de Dynamixel AX-12 (Teoria) ......................................................................................................................... 74 A1.3 Arduino Nano V3 ..................................................................................................................................... 76 A1.3.1 Control PWM amb botons ......................................................................................................................................... 76 A1.3.2 Control de Dynamixel utilitzant les llibreries de Savage Electronics .......................................................................... 76 Annex 2 Evolució del disseny ...................................................................................................................... 77 A2.1 Falanges .................................................................................................................................................. 77 A2.2 Palmell i Avantbraç ................................................................................................................................. 87 Annex 3 - Construcció ................................................................................................................................. 98 A3.1 Impressió en 3D i assemblatge ................................................................................................................ 98 A3.2 Muntatge .............................................................................................................................................. 101 Annex 4 - Descripció dels sistemes utilitats .............................................................................................. 105 A4.1 Darwin OP ............................................................................................................................................. 105 A4.2 Servomotors Utilitzats ........................................................................................................................... 107 A4.3 Sistemes de Control ..............................................................................................................................
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