Desarrollo de un brazo robótico de tipo scara con estructura de fibra de carbono y sistema de modelado por deposición fundida

Abstract

The development of the SCARA robot was composed of an exhaustive research on topics related to SCARA robots of two degrees of freedom with similarities in 3D printing or CNC design, in addition to previous knowledge related to the kinematics of SCARA robots, 3D printing fundamentals and electronic components that allow the system to be functional. Calculations were made in the implementation of the mechanical part of the SCARA robot, taking into account the electronic components that would be used as NEMA 17 motors, limit switches, hotend, among others. The use of software such as Inventor is crucial to obtain a structure as stable as possible that can be prototyped in carbon fiber and that has agreement with the stress analysis. Finally, the use of other Open Source applications such as Pronterface, Repetier Host and Marlin, give the necessary impulse for the Scara Robot to interpret the necessary instructions for its operation.