Diseño y construcción de un robot paralelo planar tipo SCARA con 2 GDL RRRRR para fines didácticos

Abstract

This document shows the design and construction of a teaching robot structure parallel two-dimensional type SCARA with 2 degrees of freedom; based on the commercial robot DexTAR developed by "Mecademic" company, with recycled electronic devices and easy access technologies, in order to extend coverage in the Robotics Lab of the Universidad Distrital Francisco José de Caldas, Facultad Tecnológica. Through a study of direct kinematics with which will define an optimal workspace for the required operating restrictions. Presenting a prototype of the robot at the end to design with its due performance tests. The annexes to this document provide the drawings of each component, data in a spreadsheet of the direct kinematics, CAD files and simulation of the prototype and a file which shows the graphical interface for the study or modification of the direct kinematics of the robot designed and built in this project.