Sistema de acionamento para um mecanismo robótico de multieixos

Abstract

With society’s growing imperative for health, well-being and comfort, the area of robotics has consolidated itself as one of the main promises and exponents of the future, being, at times, considered an essential condition for the continuous evolution of humanity. In this context, studies related to the development of robots become increasingly crucial, although equally complex. Among the diversity of types of existing robots, the parallel robot stands out, characterized by its remarkable ability to withstand efforts and perform fast and agile movements. However, its control is recognized as being one of the most complex and elaborate. However, like any system, a multi-axis robot is composed of an electrical drive system, a mechanical system and a control and command program. Despite its importance in relation to the other components, the drive system is responsible for moving and generating movements in the assembly as a whole, using a communication interface capable of interacting at the human-machine level. Servo drives, widely used, emerge as an effective proposal to drive robotic systems due to their high degree of control, presenting significant abilities in speed control, stopping (on a static axis), command logic, and precision. This study shows that, for robotic systems with multiple axes, servo drives constitute an advantageous option, comprehensively meeting the requirements inherent to the system.