Análisis cinemático del prototipo de robot equino desarrollado para el simulador de prácticas de tiro montado en la Escuela Nacional de Carabineros. [Kinematic analysis of the equine robot prototype eveloped for the shooting practice simulator mounted]

Jairo Rojas Angel. Escuela Nacional de Carabineros " Alfonso Lopez Pumarejo"

Resumen


Este artículo de investigación comprende describir de forma aproximada el modelamiento cinemático directo del robot equino de seis grados de libertad “6-DOF” desarrollado como producto de la investigación en curso  titulada “Simulador equino para prácticas de tiro montado en la ESCAR”. El manipulador diseñado tiene fines educativos y será utilizado en las prácticas de tiro montado, como herramienta de apoyo didáctico en los cursos de carabineros de la policía nacional. Se presenta la propuesta de diseño del manipulador robótico adaptado a las necesidades educativas. Se utilizan actuadores eléctricos lineales de potencia que acoplan  los eslabones de la cadena cinemática propuesta. Se aproxima la cinemática directa del robot, utilizando el algoritmo de Denavit-Hartenberg “DH” y se calcula el modelo dinámico del manipulador. Finalmente se valida el prototipo realizando pruebas de simulación del comportamiento del manipulador mediante la creación de segmentos de programa en Matlab® y se comparan con los resultados obtenidos mediante el control del mecanismo desde una aplicación de software desarrollada para tal fin en Microsoft Visual C# 2013®.

Palabras clave

Cinemática Directa, robot equino, Denavit-Hartenberg, simulador de tiro montado.

 

Abstract

This research article includes an approximate description of the direct kinematic modeling of the 6-degree-of-freedom equine robot developed as a product of the ongoing research entitled "Equine simulator for shooting practice mounted on the ESCAR". The designed manipulator has educational purposes and will be used in mounted shooting practices, as a teaching support tool in the national police Carabineros courses. The design proposal of the robotic manipulator adapted to the educational needs is presented. Linear electric power actuators are used that connect the links of the proposed kinematic chain. The direct kinematics of the robot is approximated, using the algorithm of Denavit-Hartenberg "DH" and the dynamic model of the manipulator is calculated. Finally, the prototype is validated by simulating the behavior of the manipulator through the creation of program segments in Matlab® and compared with the results obtained by controlling the mechanism from a software application developed for this purpose in Microsoft Visual C # 2013®   

Keywords

Direct kinematics, equine robot,  Denavit-Hartenberg. Mounted shooting simulator


Palabras clave


Cinemática Directa, robot equino, Denavit-Hartenberg.

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Referencias


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DOI: http://dx.doi.org/10.22335/rlct.v10i4.679

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