Diseño Y Construcción De Un Brazo Robotico De 6 GDL A Fines Educativos

Abstract

This article presents the Design Analysis and Construction of a Robotic Arm of 6 degrees of freedom (GDL) for educational purposes, making known each stage of the project. In the first one is discussed about the form of the prototype, and the model is projected through the use of CAD-assisted software. The second stage deals with the study and selection of the most suitable material for its construction, according to its mechanical properties. And its manufacture by using a 3d printer Flash Forge Creator. At this point it is evaluated by the structural analysis tools offered by the CAD software, that the pieces designed and the selected material are suitable according to the failures tests proposed in von Mises theory. [1] It follows the study of kinematics, and the positioning in the space of the robotic arms through the art library robotics tolbox art which allows to export the CAD design, to programming code, in order to develop a kinematic analysis that I evaluated the design proposed in functional to the planning of trajectories. Finally, in the third and last stage, a graphical interface and an Arduino microcontroller are used as a means of communication, to energize the actuators of the prototype, thus ensuring that the motors and servomotors, arranged in the joints, meet the 6 GDL Raised