RT info:eu-repo/semantics/bachelorThesis
T1 Diseño y cálculo de unas patas articuladas que sirvan para el movimiento de una máquina tipo ROV
A1 Rodríguez Lorenzo, Adrián
AB This work is defined as an engineering development. In particular, amodular ROV is designed from scratch, with special emphasis on the mechanicalstudy of the movement system.In this project, the problem to be solved is the inspection of a cement pipethat has vertical and horizontal sections with slight turning radius. In addition, thelongest pipe is ten meters long and it is necessary to monitor the inside of thepipe.Each pre-designed component is proposed following mechanical,geometric, dimensional and functional rules. As for the movement system, itsdesign is based on a bar linkage or mechanism supplied by a lead screw. Inaddition, the control of the ROV's movement is possible thanks to the load cellsthat are attached to the bars. Thus, the load cells command three stepper motorsthat transmit energy to the lead screws.In addition, the working stress states, the stress instructions from the loadcells to the motors (for switching from one step to another), and the resistance ofthe motion system are calculated.Finally, it is worth mentioning a spring design due to its unusual tensionsand arrangement, being a joint.
YR 2020
FD 2020
LK http://riull.ull.es/xmlui/handle/915/19385
UL http://riull.ull.es/xmlui/handle/915/19385
LA es
DS Repositorio institucional de la Universidad de La Laguna
RD 26-jun-2024