Contribuições na modelagem dinâmica e no controle neural de um braço robótico com elos flexíveis

Em geral, estruturas espaciais e manipuladores robóticos leves têm uma característica similar e inerente que é a flexibilidade. Esta característica torna a dinâmica do sistema muito mais complexa e com maiores dificuldades para a análise de estabilidade e controle. Então, braços robóticos bastantes leves, com velocidade elevada e potencia limitada devem considerar o controle de vibração causada pela flexibilidade. Por este motivo, uma estratégia de controle é desejada não somente para o controle do modo rígido mas também que seja capaz de controlar os modos de vibração do braço robótico flexível. Também, redes neurais artificiais (RNA) são identificadas como uma subespecialidade de inteligência artificial. Constituem atualmente uma teoria para o estudo de fenômenos complexos e representam uma nova ferramenta na tecnologia de processamento de informação, por possuírem características como processamento paralelo, capacidade de aprendizagem, mapeamento não-linear e capacidade de generalização. Assim, neste estudo utilizam-se RNA na identificação e controle do braço robótico com elos flexíveis. Esta tese apresenta a modelagem dinâmica de braços robóticos com elos flexíveis, 1D no plano horizontal e 2D no plano vertical com ação da gravidade, respectivamente. Modelos dinâmicos reduzidos são obtidos pelo formalismo de Newton-Euler, e utiliza-se o método dos elementos finitos (MEF) na discretização dos deslocamentos elásticos baseado na teoria elementar da viga. Além disso, duas estratégias de controle têm sido desenvolvidas com a finalidade de eliminar as vibrações devido à flexibilidade do braço robótico com elos flexíveis. Primeiro, utilizase um controlador neural feedforward (NFF) na obtenção da dinâmica inversa do braço robótico flexível e o calculo do torque da junta. E segundo, para obter precisão no posicionamento... (Resumo completo, clicar acesso eletrônico abaixo)

Potential Application in Energy Harvesting of Intermodal Energy Exchange in a Frame: FEM Analysis

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Estudo do fenômeno de instabilidade de estruturas cilíndricas de paredes finas submetidas ao carregamento de pressão externa

Thin walled cylindrical shells are widely used in many areas of industry, including civil, mechanical, nuclear, marine, petroleum and aerospace engineering. The wide application of thin cylindrical shells and the importance of instability phenomenon are the motivation basis to this study, since these factors have a great importance in engineering projects. It is presented a detailed study about the instability of cylindrical shells based on theoretical calculation, which results are compared with finite elements method calculation. The loading and boundary conditions analyzed are based on the most common types verified in real engineering projects and refer respectively to lateral (external) pressure and cylinders with simply supported edges. The calculation based on the finite elements method was executed with ANSYS 13.0 software. The results obtained with this calculation are in good agreement with the analytical theory presented in the technical note NACA No 1341 (BATDORF, 1947) considering a wide range of applicability. On the other hand, the analytical method presented in the book Theory of Elastic Stability (TIMOSHENKO; GERE, 1936) has a very restrict applicability and has presented considerable deviations in a great sort of the analyzed cases

Projeto de conjunto redutor de velocidade utilizando engrenagem sem-fim

This work is initially based in give a solution to a problem consisting of lifting a load in a warehouse focusing specifically on the solution´s project and comparison of the results obtained following the sequence of the book and comparing these results with the finite elements simulation based on the 3D components modeling. Starting from that was realized the project of the worm gear reducer to solve the problem and makes the work easier. The project consisted basically of the study, project itself and simulation by software of a worm gear reducer and projects steps, starting with the initial problem conditions (to lifting a load up to an specific height at a given time) following all the reducer project sequence, starting by the preliminary draft and electric motor selection using iterative process, material selection, worm gear dimensioning, axles, keyways, bearings and coupling. After that was performed the three dimensional modeling of the components using SolidWorks software and simulating these components using Ansys software. The results show the importance of the CAD in terms of improving project development speed and reducing costs with prototypes

Desenvolvimento de um protetor lateral em alumínio

In view of the need to develop a device for security and lateral protection, due to the Resolution 323/09 of CONTRAN, which requires the use of such equipment for most trucks and tow trucks, the objective of this work is to develop a project for an aluminum lateral protection device, according to the ABNT NBR 14.148 regulation, that, among many specifications, stipulates that the equipment must support a load of 5 kN and suffer a maximum deflection of 30mm, but does not say what material it should be made of. The reason for choosing aluminum is because of its low density, so as not to significantly increase the curb weight of the truck, which, consequently, reduces CO2 emissions and maintenance expenses. Additionally, this material presents a good resistance/weight ratio, high resistance to corrosion, excellent surface finish and it's fully recyclable; reason why it has been gaining the attention of many industry segments. For the realization of the project, profiles were chosen to make the assembly of the set, and then a finite elements analysis was performed in the HyperWorks software, to verify if the designed device would support the loads stipulated by the regulation. One details to note is that these simulation programs could show inaccuracies, because of the size and shape of the elements that compose the mesh, and for many other reasons, so it is necessary that, even with the results coming back satisfactory, actual physical tests are conducted to validate the proper functioning of the equipment, which was not done for this study

Avaliação de momentos fletores em estruturas de fundação tipo radier em concreto armado

It aims the comparison of these moments between an analytical plates theory and a computational numerical simulation. It is accented the details of studies about analytical theory as well the process, step by step, of a program that has as an influence the method of finite elements. The theory of plates has an extremely importance when it is talked about slabs and it takes as a base some fundamental hypotheses (that the middle point of the plate is considered flat and under formable) the points that are normal in relation to the middle surface is not considered because of its intensity that is irrelevant in comparison to the rest. The computational programs offer good results when they are applied in a correct way and, it resolves numerous functions in a short period of time. The objective is to highlight the importance of bending moments, its points of maximum and minimum, that has the objective of realize a good reinforcement sizing for a reinforced concrete. Furthermore, it can propitiate an economy in places that is demanded a small quantity of steel, before dimensioned for a load that is distributed in all the surface of the plate, at the same intensity

Análise de falhas por fadiga de alto ciclo em eixos de transmissão utilizando o método dos elementos finitos

This work presents a study that aims to validate the fatigue analyses developed on finite element commercial software, ANSYS Workbench. It was based on mechanical tests development of traction and hardness, to verify the mechanical properties of material that the shaft was manufactured (ABNT 1045 steel), it was developed bend test, with purpose to prove the confiability degree of computational analyses, obtaining the maximum stress in a work condition determined with 40 [kgf] of load applied, and at the end, was developed the fatigue test to obtain the number of cycles that the transmission shaft can support in a work condition with 8 [kgf] of load applied. The results obtained during the work present, have to be quite satisfactory with the theoretically expected

Determinação da freqüência natural de eixos utilizando o software excel

This work aims to determine the first natural frequency of rotation shaft by using a basic software, Excel, and to compare it to the values obtained in laboratory. When an axle is submitted to a rotation, depending on the rotational frequency used, the axle can enter a state of resonance, in which the amplitude of vibration becomes rather high. The frequencies in which the resonance is observed depends on several parameters of the axle, including the number of concentrated masses associated to the axle. Thus, to obtain a computer program of easy use and access, which can preview the frequency of resonance of an axle in rotation with ‘n’ numbers of concentrated masses it has been studied how the frequency varies with each of these parameters. The computer program and the analyses have been made using the Rayleigh Method, which allowed the transformation of a continuous system to discrete through the theory of finite elements, which has proved that, the bigger the number of divisions of the shaft taken into consideration in the calculus of the natural frequency, the more this value gets close to the real value. The results obtained have been considered satisfactory once these have gotten close to the theoretical results expected

Desenvolvimento de parafuso de interferência bioabsorvível para cirurgia de joelho em PLDL (poli ácido lático) e compósito PLDL + βTCP (beta trifosfato de cálcio)

Pós-graduação em Engenharia Mecânica - FEB

Projeto estrutural e parametrização de uma comporta deslizante utilizando o software inventor

Pós-graduação em Engenharia Mecânica - FEG

Simulação computacional por elementos finitos de múltiplas fissuras em sólidos usando técnica de fragmentação da malha

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Análise dinâmica em vigas compostas com amortecimento utilizando o método dos elementos espectrais e elementos finitos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise de falhas por fadiga num rotor de hidrogerador vertical via método dos elementos finitos

Pós-graduação em Engenharia Mecânica - FEG

Implementação de um sistema eletrônico para avaliar a distribuição da força na região plantar de pacientes

Pós-graduação em Engenharia Elétrica - FEIS

Análise das tensões em próteses implantossuportadas esplintadas, variando o tipo de conexão protética e a inclinação do implante: estudo pelo método dos elementos finitos tridimensionais não linear

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)