Diseño e implementación de una pinza flexible aplicada a un brazo robótico mitsubishi orientado a la manipulación de objetos blandos y con formas irregulares

Abstract

This project has as its main objective the development of an end effector for the robotic arm MITSUBISHI RV-2AJ of 5 DOF, oriented to the manipulation of soft objects and with irregular shapes in the Robotics laboratory of the Salesian Polytechnic University, with the purpose of Create a pneumatic system controlled by an Arduino compatible with the FESTO input-output module installed on the robotic arm. The pneumatic system will allow the operation of a flexible manipulator to maneuver smooth or delicate soft objects that have irregular or indeterminate shapes with the Mitsubishi RV-2AJ robotic arm, using CAD/CAM processes with rapid prototyping in 3D printing. With this system it will be possible to pick up an object of approximately 100gr, applying an air suction pressure of 1.5 bar. In order to define the type of flexible clamp necessary for the project, an investigation of existing manipulators on the market, both paid and free hardware and software, is carried out. By means of a Hierarchical Analysis Process (Analytical Hierarchy Process- AHP) a weighting of the two alternatives proposed in this document is carried out, the accepted option being that of a flexible pneumatic clamp. Subsequently, the programming is carried out in the Arduino IDE software to control the functions of the vacuum pump, of the solenoid valves that control the air flow through two valves with one and two suction cups.