APLICACIÓN DE METODOLOGÍAS EN SISTEMA DE INTEGRACIÓN MODULAR DE HERRAMIENTAS PARA ROBOT MANIPULADOR INDUSTRIAL

.................................................................................................................................................. IV GLOSARIO..................................................................................................................................................... V ÍNDICE DE CONTENIDO ........................................................................................................................... VI ÍNDICE DE TABLAS ................................................................................................................................. VII ÍNDICE DE ILUSTRACIONES ................................................................................................................. VIII 1 INTRODUCCIÓN ............................................................................................................................. 11 2 OBJETIVOS ...................................................................................................................................... 13 OBJETIVO GENERAL ...................................................................................................................................... 13 OBJETIVOS ESPECÍFICOS ............................................................................................................................... 13 3 ALCANCE.......................................................................................................................................... 13 4 MARCO DE REFERENCIA ............................................................................................................. 14 AUTOMATIZACIÓN Y ROBÓTICA INDUSTRIAL.............................................................................................. 14 4.1.1 Automatización Industrial ........................................................................................................................ 14 4.1.2 Robótica industrial ........................................................................................................................................ 15 4.1.3 Automatización y Robótica Industrial en Chile .............................................................................. 16 4.1.4 Generalidades sobre Robots manipuladores .................................................................................... 17 EFECTOR FINAL ROBÓTICO .......................................................................................................................... 18 4.2.1 Grippers ............................................................................................................................................................... 18 4.2.2 Sistemas de cambio de herramienta .................................................................................................... 22 INGENIERÍA DE DISEÑO ................................................................................................................................ 23 4.3.1 Análisis tipo Benchmarking ...................................................................................................................... 24 4.3.2 Análisis de Patentes ...................................................................................................................................... 25 SISTEMAS DE MANUFACTURA ...................................................................................................................... 26 TECNOLOGÍAS DE PROTOTIPADO RÁPIDO .................................................................................................... 27 4.5.1 Un poco de Historia de la Impresión 3D ............................................................................................. 27 4.5.2 Ventajas ............................................................................................................................................................... 28 4.5.3 Aplicaciones y futuro de la impresión 3D .......................................................................................... 30 4.5.4 Rapid Prototyping. Ingeniería y arquitectura ................................................................................. 31 5 METODOLOGÍA PROPUESTA ..................................................................................................... 32 6 CASO APLICADO ............................................................................................................................ 34 REQUERIMIENTOS GENERALES .................................................................................................................... 34 CASO DE ESTUDIO .......................................................................................................................................... 35 6.2.1 Análisis del Sistema ....................................................................................................................................... 35 ESTUDIO COMPARATIVO ............................................................................................................................... 39 6.3.1 Estudio comparativo Intercambiador de herramientas ............................................................ 39 6.3.2 Estudio comparativo herramienta Gripper ...................................................................................... 45 6.3.3 Estudio comparativo herramienta fijación ...................................................................................... 49 CONSIDERACIONES INICIALES DE DISEÑO: VARIABLES DE SOLUCIÓN, RESTRICCIONES Y CRITERIOS ...... 50 6.4.1 Robot KUKA kr6 .............................................................................................................................................. 51

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