versión On-line ISSN 0718-0764
A mathematical model is proposed for the estimation of the position of one of the degrees of freedom of a manipulator which is operated by a cushion-type pneumatic cylinder. Pneumatic modeling is based on the thermodynamic principle of conservation of mass and energy . Mechanical modeling is constructed based on the Newton-Euler formulation, and a variant of the estimated friction curve of Van der Vrande is proposed for the system. Integral forms of the models are analyzed using simulation, and the results are compared with results obtained on a prototype manipulator which was built and instrumented for this purpose. It is concluded that the thermo-mechanical model obtained satisfactorily describes the position and the force exerted by the manipulator
Palabras clave : robotics; pneumatic manipulator; actuator; pneumatic cylinder; modeling.