Desarrollo de un brazo robótico serial para asistencia en una clínica odontológica

Abstract

This document presents a review of the beginning of robotics, thus reviewing its chronology, fundamental laws and its viability in the field of medicine, for the development of the assistant, different types of software were used Android studio, Arduino IDE, etc. Android Studio was used for the interface where the dentist can interact from any mobile device with the robotic arm through the BLUETOOTH connection. In the application the user can manipulate the speed, the joints, save movements and put the arm in a previously established position “HOME”. The activation of the positions and the suction device was carried out by means of voice commands, for which ALEXA was used. The parts of the robotic arm were modeled in a 3D printing software, taking care of their needs and thus modifying both design and composition parameters, in the same way the robotic arm model was mechanically studied both in kinematics, dynamics and was tested the trajectory planner in Chapter 3. For the analysis, tests were carried out in a controlled and uncontrolled environment, thus finding the results cited in that section, in turn, a survey was carried out on health personnel to adapt the design to their needs and finally the conclusions obtained from the final work were detailed in Chapter 5.