Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva
La manufactura aditiva es una técnica cuyo principio técnico es la adición de capas de material para fabricar piezas. Aunque se han hecho estudios en pro de su mejora en aspectos de deposición, control de temperatura, flujos y movimientos, estos últimas aún presentan retos a superar. Las máquinas co...
- Autores:
-
Nuñez Vallejos, Diego Alejandro
- Tipo de recurso:
- Doctoral thesis
- Fecha de publicación:
- 2023
- Institución:
- Universidad Militar Nueva Granada
- Repositorio:
- Repositorio UMNG
- Idioma:
- spa
- OAI Identifier:
- oai:repository.unimilitar.edu.co:10654/45172
- Acceso en línea:
- http://hdl.handle.net/10654/45172
- Palabra clave:
- INDUSTRIAS MANUFACTURERAS
MANUFACTURAS
Parallel mechanism
Optimization
Additive manufacturing
Tridimensional printing
Mecanismo paralelo
Optimización
manufactura aditiva
impresión tridimensional
- Rights
- openAccess
- License
- Open Access
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Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| dc.title.translated.spa.fl_str_mv |
Optimal design of a parallel mechanism focused on additive manufacturing |
| title |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| spellingShingle |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva INDUSTRIAS MANUFACTURERAS MANUFACTURAS Parallel mechanism Optimization Additive manufacturing Tridimensional printing Mecanismo paralelo Optimización manufactura aditiva impresión tridimensional |
| title_short |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| title_full |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| title_fullStr |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| title_full_unstemmed |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| title_sort |
Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditiva |
| dc.creator.fl_str_mv |
Nuñez Vallejos, Diego Alejandro |
| dc.contributor.advisor.spa.fl_str_mv |
Mauledoux, Mauricio |
| dc.contributor.author.none.fl_str_mv |
Nuñez Vallejos, Diego Alejandro |
| dc.contributor.other.spa.fl_str_mv |
Avilés, Oscar |
| dc.subject.lemb.spa.fl_str_mv |
INDUSTRIAS MANUFACTURERAS MANUFACTURAS |
| topic |
INDUSTRIAS MANUFACTURERAS MANUFACTURAS Parallel mechanism Optimization Additive manufacturing Tridimensional printing Mecanismo paralelo Optimización manufactura aditiva impresión tridimensional |
| dc.subject.keywords.spa.fl_str_mv |
Parallel mechanism Optimization Additive manufacturing Tridimensional printing |
| dc.subject.proposal.spa.fl_str_mv |
Mecanismo paralelo Optimización manufactura aditiva impresión tridimensional |
| description |
La manufactura aditiva es una técnica cuyo principio técnico es la adición de capas de material para fabricar piezas. Aunque se han hecho estudios en pro de su mejora en aspectos de deposición, control de temperatura, flujos y movimientos, estos últimas aún presentan retos a superar. Las máquinas convencionales tienen movimientos cartesianos que genera dificultades relacionados con el acabado, con los requerimientos isotrópicos, con la unión de capas, con el uso de material de soporte, con las bajas velocidades de impresión y con la imposibilidad de imprimir alrededor de obstáculos. Con el fin de mejorar estos aspectos, algunos desarrollos han usado mecanismos paralelos como base de movimiento; sin embargo, las técnicas convencionales de diseño estos mecanismos se han concentrado en dividir esta etapa en fases. Usualmente, se concentran los primeros esfuerzos en los requerimientos estructurales y geométricos, para luego pasar a la fase de control. El resultado de esto son mecanismos sobredimensionados con altos requerimientos energéticos y costos elevados. Por tal motivo es necesario desarrollar un mecanismo paralelo que incremente la multidireccionalidad del sistema y optimice los requerimientos volumétricos, con movimientos suaves, demanda energética pequeña y buena precisión de movimientos. Por tal motivo, se planteó una estrategia de diseño considerando aspectos como:el análisis cinemático y dinámico del mecanismo; un espacio de trabajo computacionalmente eficiente debido a sus características discretas y técnicas de búsqueda;un nuevo índice de manipulabilidad; una estrategia de control robusta donde se examinen sus errores y esfuerzos de control; indicadores de desempeño energético y de eficiencia de control y el planteamiento de funciones objetivo que junto con sus restricciones fueron evaluadas paralelamente en algoritmos metaheurísticos de optimización. Esta estrategia de diseño no solo logró obtener un mecanismo paralelo con seis grados de libertad, llamado HEXA, para su implementación en manufactura aditiva, sino que, presentó nuevas formas de análisis y control de mecanismos de cinemática paralela que involucran análisis y desarrollos geométrico, de movimiento y de control. Finalmente, la metodología empleada puede ser la base para el análisis, diseño y optimización otros mecanismos paralelos y hace que ésta forma de diseño tenga el potencial de crear nuevas investigaciones, profesiones, industrias y empleos; impactando la academia y la industria. |
| publishDate |
2023 |
| dc.date.accessioned.none.fl_str_mv |
2023-11-14T14:33:16Z |
| dc.date.available.none.fl_str_mv |
2023-11-14T14:33:16Z |
| dc.date.issued.none.fl_str_mv |
2023 |
| dc.type.local.spa.fl_str_mv |
Doctoral |
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info:eu-repo/semantics/doctoralThesis |
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http://purl.org/coar/resource_type/c_db06 |
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http://purl.org/coar/resource_type/c_db06 |
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http://hdl.handle.net/10654/45172 |
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instname:Universidad Militar Nueva Granada |
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reponame:Repositorio Institucional Universidad Militar Nueva Granada |
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repourl:https://repository.unimilitar.edu.co |
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instname:Universidad Militar Nueva Granada reponame:Repositorio Institucional Universidad Militar Nueva Granada repourl:https://repository.unimilitar.edu.co |
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Mauledoux, MauricioNuñez Vallejos, Diego AlejandroDoctor en Ciencias AplicadasAvilés, OscarCampus UMNG2023-11-14T14:33:16Z2023-11-14T14:33:16Z2023http://hdl.handle.net/10654/45172instname:Universidad Militar Nueva Granadareponame:Repositorio Institucional Universidad Militar Nueva Granadarepourl:https://repository.unimilitar.edu.coLa manufactura aditiva es una técnica cuyo principio técnico es la adición de capas de material para fabricar piezas. Aunque se han hecho estudios en pro de su mejora en aspectos de deposición, control de temperatura, flujos y movimientos, estos últimas aún presentan retos a superar. Las máquinas convencionales tienen movimientos cartesianos que genera dificultades relacionados con el acabado, con los requerimientos isotrópicos, con la unión de capas, con el uso de material de soporte, con las bajas velocidades de impresión y con la imposibilidad de imprimir alrededor de obstáculos. Con el fin de mejorar estos aspectos, algunos desarrollos han usado mecanismos paralelos como base de movimiento; sin embargo, las técnicas convencionales de diseño estos mecanismos se han concentrado en dividir esta etapa en fases. Usualmente, se concentran los primeros esfuerzos en los requerimientos estructurales y geométricos, para luego pasar a la fase de control. El resultado de esto son mecanismos sobredimensionados con altos requerimientos energéticos y costos elevados. Por tal motivo es necesario desarrollar un mecanismo paralelo que incremente la multidireccionalidad del sistema y optimice los requerimientos volumétricos, con movimientos suaves, demanda energética pequeña y buena precisión de movimientos. Por tal motivo, se planteó una estrategia de diseño considerando aspectos como:el análisis cinemático y dinámico del mecanismo; un espacio de trabajo computacionalmente eficiente debido a sus características discretas y técnicas de búsqueda;un nuevo índice de manipulabilidad; una estrategia de control robusta donde se examinen sus errores y esfuerzos de control; indicadores de desempeño energético y de eficiencia de control y el planteamiento de funciones objetivo que junto con sus restricciones fueron evaluadas paralelamente en algoritmos metaheurísticos de optimización. Esta estrategia de diseño no solo logró obtener un mecanismo paralelo con seis grados de libertad, llamado HEXA, para su implementación en manufactura aditiva, sino que, presentó nuevas formas de análisis y control de mecanismos de cinemática paralela que involucran análisis y desarrollos geométrico, de movimiento y de control. Finalmente, la metodología empleada puede ser la base para el análisis, diseño y optimización otros mecanismos paralelos y hace que ésta forma de diseño tenga el potencial de crear nuevas investigaciones, profesiones, industrias y empleos; impactando la academia y la industria.1 INTRODUCCIÓN 1 1.1 Descripción general 1 1.2 Objetivos 2 1.2.1 Objetivo general 2 1.2.2 Objetivos específicos 3 1.3 Metodología 3 1.4 Alcance del trabajo 4 1.5 Contribuciones 5 1.6 Organización de la tesis 6 2 MARCO TEÓRICO 7 2.1 Mecanismo paralelo 7 2.2 Cinemática inversa 9 2.3 Cinemática diferencial 10 2.3.1 Generalidades 10 2.3.2 Matriz Jacobiana 10 2.4 Formulaciones para la obtención de la dinámica del mecanismo 11 2.4.1 Formulación de Newton Euler 11 2.4.2 Formulación de Euler Laplace 11 2.4.3 Principio del trabajo virtual 12 2.5 Espacio de trabajo 12 2.5.1 Enfoque geométrico 13 2.5.2 Máximo volumen inscrito con CAD 13 2.5.3 Método discreto 14 2.5.4 Análisis de límites por restricciones 14 2.6 Manipulabilidad 14 2.7 Estrategia de control 15 2.7.1 Modos deslizantes 15 2.7.2 Planitud diferencial 21 2.8 Error y esfuerzo de control 23 2.9 Optimización 24 2.9.1 Métodos de optimización clásicos 24 2.9.2 Métodos de optimización no tradicionales 25 2.9.3 Planteamiento de un problema de optimización 25 2.9.4 Concepto de dominancia 26 2.9.5 Frente de Pareto 26 2.9.6 Métodos implementados 27 3 ESTADO DEL ARTE 29 3.1 Configuraciones mecánicas de los MPs 29 3.2 Investigaciones en cinemática y dinámica 38 3.2.1 Avances en estudio de cinemática inversa 38 3.2.2 Progresos en modelación de la dinámica 39 3.3 Tendencias en espacio de trabajo 41 3.4 Estrategias de control en MPs 44 3.5 Avances en la optimización de MPs 45 3.6 Conclusión del análisis del estado del arte 46 4 DESCRIPCIÓN DEL MECANISMO 47 4.1 Selección del mecanismo 47 4.1.1 Mecanismos analizados 47 4.1.2 Metodología de selección 47 4.1.3 Definición de criterios 49 4.2 Especificaciones del mecanismo 51 4.3 Determinación de la cinemática inversa 55 4.3.1 Vértices de las plataformas 55 4.3.2 Modelo matemático para la cinemática inversa 56 4.4 Desarrollo de la modelación dinámica 60 4.4.1 Análisis de velocidad 60 4.4.2 Análisis de aceleración 61 4.4.3 Matriz Jacobiana de velocidades 62 4.4.4 Matriz Jacobiana de aceleraciones 63 4.4.5 Matrices Jacobianas de los eslabones 63 4.4.6 Modelo dinámico por el principio de trabajo virtual 64 5 DETERMINACIÓN DE LAS FUNCIONES OBJETIVO 70 5.1 Cálculo del espacio de trabajo 70 5.1.1 Evaluación de posición 70 5.1.2 Generación de nube de puntos 72 5.1.3 Cálculo del volumen 74 5.2 Identificación de la manipulabilidad 75 5.3 Implementación de la estrategia de control 76 5.3.1 Control equivalente por planitud diferencial 77 5.3.2 Control atractivo 78 5.4 Esfuerzo de control 81 5.5 Error de control 81 6 OPTIMIZACIÓN DEL SISTEMA 84 6.1 Variables de diseño 84 6.2 Funciones objetivo 84 6.2.1 Funciones objetivo geométricas 84 6.2.2 Funciones objetivo de control 85 6.3 Restricciones 87 6.4 Problema de optimización 88 6.5 Análisis de dominancia 89 6.6 Clasificación de hacinamiento 89 6.7 Evaluación del algoritmo 90 6.8 Método de toma de decisión y espaciado 91 6.9 . Implementación 92 7 RESULTADOS Y DISCUSIÓN 96 7.1 Producto del análisis de cinemática inversa 96 7.2 Solución del WS 99 7.3 Análisis de manipulabilidad 102 7.4 Efecto de la implementación de la estrategia de control 103 7.5 Indicador del esfuerzo de control 112 7.6 Ejecución de la optimización 113 7.7 Prototipo del HEXA 6 RUS 120 8 CONCLUSIONES 123 REFERENCIAS 125 ANEXOS 136 Anexo A 137 Anexo B 138 Anexo C 140 Anexo D 232 Anexo E 236 Anexo F 238 Anexo G 246 Anexo H 253Additive manufacturing is a technique whose fundamental principle involves adding layers of material to create parts. While numerous studies have been conducted to enhance material deposition, temperature control, material flow, and motion, the latter still pose significant challenges. Traditional machines with Cartesian directions often lead to difficulties associated with finishing, meeting isotropic requirements, achieving proper layer bonding, utilizing support materials, slow printing speeds, and the inability to print around obstacles. To address these issues, some advancements have turned to parallel manipulators as the foundation for motion mechanisms. However, conventional approaches to designing these manipulators have typically divided the process into stages. Typically, initial efforts focus on structural and geometric requirements, followed by the control phase. This frequently results in oversized mechanisms with high energy consumption and substantial costs. Consequently, it becomes imperative to develop a parallel mechanism tailored for additive manufacturing that enhances system multi-directionality while optimizing volumetric requirements with smooth motions, minimal energy consumption, and precise movement. In pursuit of these goals, a design strategy was proposed, considering aspects such as kinematic and dynamic analysis of the mechanism, computationally efficient working volumes due to their discrete characteristics, and search techniques. It also introduced a new manipulability index, a robust control strategy that accommodates control errors and efforts, energy performance and control efficiency metrics, and objective functions. These elements, in conjunction with their constraints, were concurrently evaluated using metaheuristic optimization algorithms. This design strategy not only successfully produced a six-degrees-of-freedom parallel manipulator named HEXA, tailored for additive manufacturing, which fulfills the aforementioned requirements, but it also introduced innovative methods for analyzing and controlling parallel kinematic mechanisms, encompassing geometric, kinematic, and control analyses. Finally, this methodology can serve as a foundation for the analysis, design, and optimization of other parallel mechanisms and holds the potential to spark new research, professions, industries, and job opportunities, thereby making a substantial impact on both academia and industry.DoctoradopdfspaUniversidad Militar Nueva GranadaDoctorado en Ciencias AplicadasFacultad de Ciencias BásicasUniversidad Militar Nueva GranadaOpen Accesshttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAtribución-NoComercial-SinDerivadas 4.0 InternacionalAcceso abiertohttp://purl.org/coar/access_right/c_abf2Diseño óptimo de un mecanismo paralelo enfocado en manufactura aditivaOptimal design of a parallel mechanism focused on additive manufacturingINDUSTRIAS MANUFACTURERASMANUFACTURASParallel mechanismOptimizationAdditive manufacturingTridimensional printingMecanismo paraleloOptimizaciónmanufactura aditivaimpresión tridimensionalDoctoralinfo:eu-repo/semantics/doctoralThesishttp://purl.org/coar/resource_type/c_db06[1] M. 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Oscar, “Optimal Design of the HEXA RUS Mechanism,” 2022.ORIGINALNuñezVallejosDiegoAlejandro2023.pdfNuñezVallejosDiegoAlejandro2023.pdfTesisapplication/pdf12278038http://repository.unimilitar.edu.co/bitstream/10654/45172/1/Nu%c3%b1ezVallejosDiegoAlejandro2023.pdf30793601a0cf39bac6f3c66cf3a84688MD51open accessLICENSElicense.txtlicense.txttext/plain; charset=utf-83420http://repository.unimilitar.edu.co/bitstream/10654/45172/2/license.txta609d7e369577f685ce98c66b903b91bMD52open access10654/45172oai:repository.unimilitar.edu.co:10654/451722024-04-01 09:59:45.523open accessRepositorio Institucional 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