Rótula Atuadora Com Passos Esféricos Controlados

Abstract

This work presents a model of a controlled actuating mechanism, with particular motion characteristics and control concepts. The model is based on the sums of concepts of mechanisms, electrical machinery, computer science and microcontrollers theory and it aims to make a computational control to be used in this new equipment. To this computational control, it is necessary to make an introductory mathematical modeling based on spherical coordinates, to propose a definition of points of motion for a mechanical system, characterized by spherical steps. This system is actuated by magnetic points distributed along an articulated spherical shell and it slides in the fixed sphere with only one magnetic spot. The mechanical system communicates two stems with angular relative positions. These positions are presented through the development of a matrix that represents the power status of all the points distributed in the spherical shell, determining whether they are on or off. This mathematical model identifies points in the spherical shell, where they are registered as a table row in a database, which has information of the neighborhood relation between points. So a software is used to update in database and an algorithm is used for will do control by using the JAVA programming language. The input data for the algorithm are the start and the end motion points and the steps speed. The result of this algorithm is a script with sequence of movement, using best route criteria the algorithm selects the most efficient within several possibilities. The program’s output is a file that is sent to an electronic device and it receives the information, controls the power state for the coils of the actuating rod, to promote a sequence of desired movement. So this modeled mechanism, plans to make possible a device that offers new possibilities for solutions for controls as actuators positioners that can be applied to robotics and for the most varied of automation problem