Defesa de Tese de Doutorado – Gustavo Sobral Toscano – 05/04/2017
05/04/2017 16:45
| Defesa de Tese de Doutorado | |
| Aluno | Gustavo Sobral Toscano |
| Orientador
Coorientador |
Prof. Eugênio de Bona Castelan Neto, Dr. – DAS/UFSC
Prof. Henrique Simas, Dr. – EMC/UFSC |
| Data
Local |
05/04/2017 14h00 (quarta-feira)
Sala PPGEAS I (piso superior) |
| Prof. Eugênio de Bona Castelan Neto, Dr. – DAS/UFSC (orientador)
Prof. Glauco Augusto de Paula Caurin, Dr. – EESC/USP Prof. Anibal Alexandre Campos Bonilha, Dr. – CCT/UDESC Prof. Daniel Martins, Dr. – EMC/UFSC Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC Prof. Lucas Weihmann, Dr. – CEM/UFSC Prof. Tarcísio Antônio Hess Coelho, Dr. – POLI/USP (suplente) Prof. Ubirajara Franco Moreno, Dr. – DAS/UFSC (suplente) |
|
| Título
|
Development of a New Kinetostatic Modelo for Humanoid Robots using Screw Theory |
| Abstract: The research and development in humanoid robots (HRs) have been increasing in the world due to motion versatility and the high degree of spatial and environmental adaptability of the human body. Likewise, the profitable product that such robot may become when inserted into human social environments. By resembling human kinematics, such robotic systems are composed of one mobile rigid base link, from which depart four independent and serial kinematic chains that mimic the human limbs. Although HRs are capable to perform a great set of human-like motion, such mimicry generates complex robotic systems. Nevertheless, due to the many ways by means HRs may interact with the environment and with themselves, and also given a multi-limb kinematic chain detached from any inertial reference frame, such robots can be represented by different mechanisms. So that, each mechanism is defined by different kinematic and static scenarios. The structure-varying kinematic chains, multiples contacts with the environment, arbitrarily formation of passive couplings, mobile and multi-limb kinematic structures may also become issues that increase the complexities of both the kinematic and the static models, depending on how there are approached. This thesis proposed a new kinetostatic model for humanoid robots. Such model is a combination of both the kinematic and the static models that, given the proposed approached, the features structure-varying kinematic chains, multiples contacts with the environment, arbitrarily formation of passive couplings, mobile and multi-limb kinematic structures cease to be issues. Such insight is based on the marionette doll approach, so that both the kinematic and the static models become to be characterized, individually, by single parallel kinematic chain mechanisms, whose structure do not vary. The proposal was provided by the straightforward relation between the strings of marionette doll mechanisms and the virtual chains, combined with the screw theory and Davies’ method. By the use of the kinetostatic model for HRs proposed in the thesis, any kinematic and static scenarios can be defined and analyzed. | |
