Diseño e implementación de un módulo didáctico de un brazo robótico de 5 grados de libertad (GDL) y un SCARA para prácticas académicas

Abstract

This project consists of showing the design and implementation of 1 module with 2 robotic arms, which consists of 1 robotic arm at the RV-2AJ scale and a SCARA KUKA R550. The arms were designed in solid work taking as a reference the original measurements of the KUKA and Mitsubishi automatons, since with this information it was possible to print their structure on a 3D printer. Its angular mechanical movements are performed by 5 servomotors for the RV-2AJ robotic arm and 3 servomotors for the KUKA R550, which its movement is 180 degrees. The project also consists of a control card, which performs the data acquisition by means of an Arduino MEGA 2560 microcontroller, a PCA 9685 module for control of servomotors, a HC-05 Bluetooth module, LCD for viewing the angle that is set. they move the arms and a keyboard mainly. The entire module will be managed by means of a software designed and structured from scratch based on LabView which is called RAS and will allow the robotic arms to be manipulated automatically throughout the work area and command to perform linear movements can be executed. And its main purpose is to perform 10 practices where you will know from scratch your respective arm handling, to perform movements of both arms at the same time.