Keywords
IEM-M (KL0-mecanica), robot, vara, fijación, colisión, comportamiento elástico, robot, white cane, clamp, collision, elastic behavior
TACTILE ASSEMBLY ROBOT
Abstract
Este proyecto se desarrolla en torno a un robot, construido en 2008 y propiedad de la universidad Management Center Innsbruck (MCI) desde 2010. Con él se ha trabajado desde entonces en numerosos proyectos e investigaciones.
En el proyecto de este año el robot se emplea, básicamente, para detectar objetos; como si de un palo para ciegos se tratase. Esto se consigue mediante una vara de aluminio que está montada en su brazo a través de una abrazadera, que le transmite fuerzas y momentos cuando colisiona con algún elemento. De esta manera, se pueden analizar dichas reacciones y procesarlas electrónicamente, detectando así la presencia de objetos en el entorno.
En dicho proyecto hay, por supuesto, numerosas áreas de trabajo. Esta parte de él se centra en el estudio del comportamiento elástico del conjunto vara abrazadera, así como en ciertas mejoras en el diseño de la fijación entre vara y abrazadera, y finalmente en la localización del punto de colisión con el determinado objeto.
This project revolves around a robot, built in 2008 and property of the university Management Center Innsbruck (MCI) since 2010. It has been worked with since in multiple projects and investigations. In this year's project, the robot is basically used to detect objects just as if it was awhite cane for blind people. The robot is programmed to detect an object in his workspace by touching it. This is achieved by an aluminium cane mounted on a force/torque sensor on the robot. To get the information of whether there is, or not, an object, the sensor sends a certain value to the controller. According to the force, the controller of the robot detects the position where the cane meets such object. To get this distance information, an elastic model of the cane is needed, in order to understand the elastic behaviour of the cane. There are, of course, many different areas of study in the whole project, but, as said, the one on which this part is focused is the elastic behavior of the mentioned cane-clamp body, as well as in the redesign of the clamp to make its behavior more predictable, and the determination of the point where the collision occurs.
This project revolves around a robot, built in 2008 and property of the university Management Center Innsbruck (MCI) since 2010. It has been worked with since in multiple projects and investigations. In this year's project, the robot is basically used to detect objects just as if it was awhite cane for blind people. The robot is programmed to detect an object in his workspace by touching it. This is achieved by an aluminium cane mounted on a force/torque sensor on the robot. To get the information of whether there is, or not, an object, the sensor sends a certain value to the controller. According to the force, the controller of the robot detects the position where the cane meets such object. To get this distance information, an elastic model of the cane is needed, in order to understand the elastic behaviour of the cane. There are, of course, many different areas of study in the whole project, but, as said, the one on which this part is focused is the elastic behavior of the mentioned cane-clamp body, as well as in the redesign of the clamp to make its behavior more predictable, and the determination of the point where the collision occurs.
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