Diseño y construcción de un efector final para empaquetado y paletizado de botellas con el uso del brazo robótico Kuka KR-16

Abstract

This technical work presents the "Design and construction of an end effector for packaging and palletizing bottles with the use of the robotic arm KUKA KR-16", which will be located in the robotics laboratory of the Universidad Politécnica Salesiana Cuenca. Initially, this work is promoted with technical research about industrial processes with emphasis on the use of end effectors and the KUKA KR16 robot in order to determine the main properties that must have a tool for packaging and palletizing bottles so that the process can be performed effectively with the robot. Then, according to the necessary requirements, stages are established to enable the 3D design of the end effector to attach to the robot, such effector is designed to be multi-tool followed by the process of printing and CNC cutting for implementation, finally an electronic board is used with a security system using the Arduino microcontroller in conjunction with the vibration sensors SW-420 and TCS3200 color in such a way to stop the process when there is any kind of disturbance.