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Sistemas Mécatronicos

Sistemas Mécatronicos

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Published by Carlos Cruz Rincón

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Published by: Carlos Cruz Rincón on Nov 12, 2011
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08/19/2013

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CENTRO
NACIONALDEACTJUALIZACIONDO'CENTEENMECATRONICA
ANTOLOGiAYMANUALDEpRACTICAS
GENERACION
28
Elabor6:
M.E.,Vj:€;elilitePerez.
Instli'yctQr~M.E.VicentePlilje~
Mayodel2010
 
1Y_''j?1!
SISTEMASMECATRONICOS~
t:.:f
TABLADECONTENIDO
LISTADEFIGURASYTABLAS111INTRODUCCION
10
FUNDAMENTACION
12
OBJETIVOGENERAL
13
ESTRATEGIASDETRABAJO
14
MEDIDASDESEGURIDAD
15
1.
FUNDAMENTOSDEROBOTICA
16
1.1Conceptosbasicos161.2Configuraciones191.3Elementosnecesariosparaeldiseiio231.4CaracteristicasdelrobotMitsubishiRVM1251.5Encendidodelsistema28
2.PROGRAMACIONDELROBOT
31
2.1Controldeposicion
y
movimiento312.2Controldeprograma332.3Controldelamano342.4Controldeentrada
y
salida
(1/0)
dedatos352.5ControldecornunicacionatravesdeRS23235
3.ACTIVIDADESPRAcTICAS36
3.1FamiliarizacionconelRobotMitsubishi..363.2lntroduccionaloscomandosdelRobotRVM1403.3Subrutinadetomarpiezas(PICK)493.4Subrutinadedejarpiezas(PLACE)533.5Subrutinadepaletizaclon563.6Controldebandas603.7Secuenciadebandas633.8Controldebandasdesde2PLC's653.9Entradas
y
salidasdelRobotMitsubishiRVM1673.10Puestaenmarchadelaceldademanufacturaflexible69
ANEXOS
71
BIBLIOGRAFiA74
 
1Y_''j?1!
SISTEMASMECATRONICOS~
t:.:f
LISTADEFIGURASYTABLAS
Figura1.1Robot(Brazomanipulador)17Figura1.2Espaciodetrabajo18Figura1.3RobotCartesiano20Figura1.4Robotesferlco
0
polar20Figura1.5Robotcilindrico21Figura1.6Robottipobrazoarticulado21Figura1.7RobottipoSCARA22Figura1.8RobotmanipuladorMitsubishiRVM126Figura1.9AlcancedelRobotmanipuladorMitsubishiRVM126Figura1.10Volumendetrabajo27Figura1.11ComponentesdelaestaciondelRobot..27Figura1.12Partesfrontal
y
posteriordelcontroladordelrobot.28Figura1.13Teachingbox29Tabla1FuncionesmasutilizadasenelTeachingBox29Figura1.14Posicionamientomedianteelteachingbox30Figura3.1Elementosdelsistemarobot..37Figura3.2.EjesdemovimientodelrobotRVM139Figura3.3Principalessimbolosdediagramasdeflujo40Figura3.4Diagramadeflujodelprograma147Figura3.5SubrutinaPICK50Figura3.6Diagramadeflujosubrutinaplace54Figura3.7Bases(pallets
0
paletas)57Figura3.8Diagramadeflujodepaletizaclon58Figura3.9Celdademanufacturaflexible60Tabla2Localizaclondesensores
y
actuadores61Figura3.10EnlaceentredosPLC's66Figura3.11ConexionesdelosrobotsalosPLC's67

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