Diseño y construcción de un prototipo de brazo robótico colaborativo en la movilización de circuitos impresos controlado mediante una aplicación móvil

Abstract

This project focuses on the design, development, programming and analysis of a prototype collaborative robotic arm in the mobilization of printed circuit boards that will be controlled by a mobile application. The main purpose of this work is to evaluate the performance, accuracy and efficiency of the robotic arm, as well as its ability to perform a task autonomously. Next, the kinematic analysis is performed to determine the degrees of freedom of the robotic arm, the positions and orientations of the joints, linear and angular velocities of the robotic arm joints. Subsequently, a dynamic analysis is carried out to understand the behavior of the gripper on the robotic arm during its operation, thus determining how performance and stability influence the grasping of an object. Finally, the development of the prototype was based on a mechanical design methodology, which included requirements analysis, component selection, redesign and reconditioning of the mechanical structure and implementation of the control system.