Desarrollo de un robot antropomórfico de 5 grados de libertad mediante el uso de motores a pasos con caja reductora armónica

Abstract

This work presents the design and fabrication of an anthropomorphic arm using stepper motors with harmonic gearbox, using 3D design and additive manufacturing tools, complemented with CNC machined components. Each joint of the arm is controlled by geared stepper motors, allowing precise control of the movements. The study discusses in detail the mechanical design of the system, the implementation of the control electronics, as well as the modeling and analysis of the direct and inverse kinematics of the robot. In addition, the experimental results obtained during the prototype operation tests are discussed.