Diseño e implementación de plataforma robótica de seis grados de libertad, como máquina de ensayo

摘要

This work proposes to use a parallel robot as a test machine in engineering education. The underlying objective is to approach the design and construction of a programmable test machine, in order to adapt it to different environments and domains to obtain adaptability in the ability to perform experiments in laboratories for educational purposes. In this work, a parallel robot (Stewart platform) has been developed with the ability of measuring actuator efforts and, the capability of controlling platform position and orientation, with an interface to an external computing system, in order to program the positioning and perform the data acquisition of the experiments. As an application case, drone experiments are carried out, fixed to the mobile platform, to validate its design and response, disturbing it in a controlled, repeatable and measurable way in its reactions. This project was developed as part of the research project "Design and Implementation of Optimized Software and Hardware for Parallel Computing Systems in Engineering".