Diseño y construcción de un robot tipo puma controlado mediante interfaz de usuario para uso académico

Abstract

This document shows the design and construction of a PUMA (Universal Programmable Manipulation Arm) robot of six degrees of freedom, which will be used as an educational support in the robotics classes of the university. First, direct and inverse kinematics calculations have been carried out, for which the Denavit - Hartenberg and kinematic decoupling methods have been used, which are useful to make easier the analysis of the six degrees of freedom of the PUMA robot when reducing it in a system of three degrees of freedom. The dynamic analysis of the robotic arm has also been developed and its respective implementation has been carried out. The joints are composed of dynamixel servomotors, which have a connection on the bus, in which an ID is assigned and each one a single connector in the control circuit for each engine family. The designed circuit allows the connection of the power supply and the Arduino Mega, which in turn communicates with the actuators and the graphic interface on the computer. The graphic interface was designed in MATLAB and its main function is the sending and receiving of data from and to the dynamixel servomotors, which allows the control of position, speed and torque of these; For this, the calculations of direct kinematics, inverse, generation of trajectories, dynamic model and simmechanics diagram have been implemented. In addition, the interface was designed so that the user can see the simulation of the movement of the robot, as well as verify the variables in the mathematical model that allows the movement of this.