Repotenciación de un robot de 4 grados de libertad mediante la implementación de un sistema de control con interfaz HMI para la manipulación de objetos

Abstract

This project presents the implementation of an HMI interface for a 4-degree-of-freedom robotic manipulator using Drufel CNC software. The system includes a control set composed of drivers, an NVUM controller, and a power supply, previously installed in an electrical cabinet. Electrical and control schematics were also developed to facilitate future maintenance and modifications. Additionally, a suction-cup end effector was incorporated, designed to integrate with the robot structure without affecting its mechanical or kinematic performance. This component enables the robot to manipulate objects weighing up to 100 grams, expanding its operational capabilities. The mechanical design was developed in SolidWorks 2024, taking as reference industrial gripper configurations to obtain a functional and reliable solution. The interface was developed using Python and Visual Studio, allowing communication between the robot and the user through an intuitive graphical environment. The interface sends motion commands, while the control system executes the corresponding sequences safely. The electrical design of the control cabinet was carried out using CADe SIMU, reconstructing the system according to its previous operation and the new requirements, ensuring hardware–software compatibility.