Análise cinemática do protótipo de robô eqüino desenvolvido para o simulador de tiro esportivo montado na Escola Nacional de Carabineros "Alfonso López Pumarejo"
DOI:
https://doi.org/10.22335/rlct.v10i4.679Palavras-chave:
Direct Kinematics, robô equino, Denavit-Hartenberg, simulador de tiro montadoResumo
Este artigo de pesquisa inclui uma descrição aproximada da modelagem cinemática direta do robô eqüino de seis graus de liberdade “6-DOF” desenvolvido como um produto da pesquisa em andamento intitulada “Simulador eqüino para práticas de tiro montadas no ESCAR”. O manipulador projetado tem fins educacionais e será usado na prática de tiro montado, como uma ferramenta de apoio ao ensino nos cursos de polícia da polícia nacional. É apresentada a proposta de projeto do manipulador robótico adaptado às necessidades educacionais. Atuadores elétricos de potência linear são usados para acoplar os elos da cadeia cinemática proposta. A cinemática direta do robô é abordada usando o algoritmo Denavit-Hartenberg “DH” e o modelo dinâmico do manipulador é calculado. Finalmente, o protótipo é validado simulando o comportamento do manipulador através da criação de segmentos de programa Matlab® e comparado com os resultados obtidos pelo controle do mecanismo de um aplicativo de software desenvolvido para esse fim no Microsoft Visual C # 2013®
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