Diseño de una herramienta para el proceso de empaquetamiento y control de calidad aplicada al robot KUKA KR-16

Abstract

This thesis work focuses on the mechatronic design of a tool for packaging and quality control applied to the KUKA KR-16 robot. It incorporates artificial vision and mechanical design processes. The tool securely holds glass cups and checks for defects incurred during manufacturing. The adaptable design, based on the FinRay structure, is evaluated through finite element and mathematical analyses to ensure its performance in a specific application. An artificial vision system is integrated using Sherlock software to capture and process images, detecting any defects in the cups and alerting the operator when a cup is not suitable for the packaging process.