Análisis cinemático del prototipo de robot equino desarrollado para el simulador de prácticas de tiro montado en la Escuela Nacional de Carabineros
DOI:
https://doi.org/10.22335/rlct.v10i4.679Palabras clave:
Cinemática Directa, robot equino, simulador de tiro montado, Denavit-HartenbergResumen
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®.
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Esta revista provee acceso libre e inmediato a su contenido (https://creativecommons.org/licenses/by-nc-nd/4.0/), bajo el principio de hacer disponible gratuitamente la investigación al público y apoyar a un mayor intercambio de conocimiento global.
