Conception et fabrication d'un robot industriel pour l'industrie automobile
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Le robot industriel baptis� MECHRO est con�u pour saisir et positionner des objets pesant au maximum un kilogramme; il est utilis� dans les secteurs de l'automobile et de l'�lectronique selon une configuration SCARA . Les diff�rents �l�ments de MECHRO sont le bras sup�rieur, le bras inf�rieur, la pince et la base. Les bras sont en aluminium et abritent le syst�me d'entra�nement compos� de moteurs, de pignons, de cha�nes et d'engrenages. Cela permet au programmeur d'�crire le programme de commande dans n'importe quel langage de son choix. L'ensemble de la pince a �t� test� et les r�sultats suivants ont �t� obtenus. L'ouverture et la fermeture de la pince se sont av�r�es �tre de 0 � 35 mm. La rotation de la pince �tait de 360 . � chaque tour de la pince, la vis M-12 avance de 1,7 mm (pas), ce qui produit le mouvement lin�aire vertical de la pince. Ensuite, les rotations au niveau des axes ont �t� examin�es: la rotation de l'axe du coude s'est av�r�e �tre de 255 et celle de l'axe de l'�paule de 360 . La pince s'est av�r�e capable de saisir une charge de 1 kg. Le robot a re�u l'ordre de se d�placer de 20 pouces et le d�placement r�el a �t� mesur� et s'est av�r� �tre de 19,99 pouces. L'erreur est de 0,01 pouce et peut �tre repr�sent�e comme une erreur de pr�cision de 0,05 % inf�rieure � la distance command�e.
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