Diseño mecánico de un manipulador industrial para emular el movimiento del brazo humano

Abstract

Through this project, the mechanical design of an industrial manipulator with four degrees of freedom was reached, viable for its manufacture and start-up. This robot aims to emulate and imitate the movements of an operator. The design procedure was carried out through the recognition of the requirements of the Fodein 2020 project, by the researchers and of the situation itself in which the use of the manipulator was projected, the design was also directed from the manufacturing method and materials available at the Santo Tomas University. On the other hand, the process to choose the appropriate configuration of the robot is based on the different configurations of its morphology and its implications regarding how these influence the trajectories, it is decided from an analysis of alteratives, with the criteria based In the requirements generated, the most appropriate. A joint robot configuration was chosen, with four degrees of freedom, since these four degrees are sufficient to develop the desired movements that correspond to movements of the human arm. The design of manipulators absolutely requires kinematic and kinetic models, this as a basis for the torques necessary to carry out the trajectories. These models were carried out consistently, firstly, calculations were generated for the direct and inverse kinematics of the robot, which result in equations for the position and orientation of the end and posterior effector, the angles of rotation of each joint. Regarding the dynamic model, Newton Euler and Lagrange models were worked to know speeds, accelerations and torques of the joints. For the development of the detailed design, the chosen actuators are based on a preliminary calculation of torque as a function of inertia and angular acceleration. The shape, size and assembly arrangement of the chosen actuators offers optimal solutions for this type of development, the motors are MX-64 and MX-28, servomotors with encoder and housing. These characteristics are essential in the design of the manipulator since the same motors function as joints. With this preliminary design, finite element analysis is performed, obtaining the deformations, Von Misses stresses and the safety factor of the model. The manufacturing planning is based on the rapid prototyping of fused deposition modeling (FDM), in 3D printer with ZUltra material (ABS).