Desarrollo de Dispositivos Modulares Virtuales de Arquitectura Libre para el Control de Posicionamiento Multiaxial
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In this project the modeling and simulation for different configurations of the modular device of free architecture of multi-axial positioning was carried out, in order to qualify for the title of technologist in mechanics of the District University Francisco José de Caldas; Through the database of the University and the company IDCAE information was collected and analyzed, after that it was classified to deduce possible solutions through the objectives set to successfully complete the development of this project. After recognizing the components that make up the free architecture device, the pieces were modeled with their corresponding geometry as similar to the real device, using the NX SIEMENS software as the base platform. Subsequent to this the assembly is made for each configuration, and with this a part of the machine architecture is defined depending on the properties that each mechanism possesses. With the information obtained from the design and implementation of the device, we studied the equations of motion (direct and inverse kinematics) of the different configurations of the free architecture device. The development of the kinematics focused mainly on the geometric study of the movement of the device for the different configurations with respect to a fixed frame of reference. Based on the parameters for the analysis and solution of this type of mechanisms. After having the machine assembly through the ISV environment (Integration Simulation and Verification) specifically with the Machine Tool Builder tool, it defines the kinematics with a tree system that shows the relationship between each one of the components, with this creates a postprocessor with the Post Builder tool using trajectory data. Defining this device as a three-axis milling machine. After this the machine is inserted into the NX SIEMENS library. In order to be able to be called from a piece in which trajectories were generated by means of the manufacturing application. Because the ISV is not designed for devices based on parallel robotics, it was decided to develop the machine by another Co-simulation method where the machine architecture is defined by links and joints and then exported as a block model for the purpose of control it from MATLAB with a block arrangement developed in Simulink.