Puesta en marcha virtual, del robot delta de la Universidad Santo Tomás, utilizando el módulo Mechatronics Concept Designer del Software Nx

Abstract

A delta-type parallel architecture robot is made up of three kinematic chains that come together in an end effector. This type of arrangement gives the robot the ability to move at speeds and accelerations, being used mainly in pick and place operations. In order for the final effect to move in a straight line within the work volume, it is necessary to perform kinematic transformations in the domain of the actuators, in this case rotational movements. In the generation of these trajectories, the use of direct and inverse kinematics is necessary, applying smoothed velocity profiles. The point cloud is obtained by means of a code developed in C#, it is sent to the virtual twin, it is implemented in the NX® software, through TCP communication. The calculated trajectory is transmitted to the virtual servomotors for the generation of movements in the extremities of the robot that converge to the final effect, in which the kinematic analysis point is located. In order to verify the generation of linear trajectories with speed profiles smoothed by the code, a virtual sensor is implemented in the final effect, which provides time and position data at the point to be analyzed. When plotting the points obtained, it is verified that the trajectory has periods of acceleration and deceleration according to what has been proposed. These data are also useful to make a comparison between what the code calculates and what the software executes, verifying that the simulation and its data are reliable and that the set and start-up parameters established for the virtual twin are adequate. By being certain that the code generates correct linear trajectories, with the certainty that it will not have movements that compromise its structure and proper functioning.