Estudo analítico-experimental de precisão de posicionamento de um manipulador

Abstract

This work consists of a basic analytical and experimental study for the precision of the positioning of a mechanical manipulator. On analyzing the precision, the deflection caused by the weight applied to the grip was considered, as well as aninfluence of the geometric tolerance in the construction of the manipulator. For such analysis, the prototype of a manipulator with five degrees of freedom was developed. The deflection measurement and the influence of the tolerance were made estaticaly at each position of the manipulator. The experimental results were compared with the theoretical in order to verify their consistency.