RAPID PROTOTYPING WITH EMPHASIS ON ARCHITECTURE CONTROL IMPLEMENTED IN MECHATRONIC DEVICES

Resumo

In recent years, with technological advances in mechatronics engineering it is necessary to monitor and improve the studies of these new trends. This research aims to present a methodology to integrate robotic manufacturing cells with emphasis on modeling and controlling of a robotic device. The model consists of three degrees of freedom, driven hydraulically allowing the placement of a table where a piece can be worked by two industrial robots constituting a system of collaborative manufacturing. Studies are presented concerning kinematic and dynamic models and the calculation of control system´s parameters using MatLab-Simulink™. An interface was developed in LabVIEW™ language for acquisition and processing of the information from the sensors of the joints and the implementation of the system of supervision and control. Since the publication of an HTML page, a cell collaborative application may be available on the collaborative WEB allowing the creation of a virtual laboratory directed to scientific and technological research and the possibility to connect with other laboratories for teaching and research. For instance, this will allow carrying out the implementation of distance learning experience and performing complex tasks in real time.