Diseño e Implementación de un Sistema Pick and Place Empleando un Brazo Robótico de 4 GDL Integrado a una Base de Movimiento Longitudinal Horizontal

The demand of the industry has motivated articulated robotic arms to increase their work area, giving rise to the need to add a greater amount of longitudinal movements in the robots. The mobile manipulators that are manufactured today have a gyration ring driven by a motor at its base and move on two toothed rails that allow it to move along the rails with precision, in other more complex systems the manipulator robot goes on top of a mobile robot doing navigation. The present project consists of providing a form of integrated longitudinal movement, of the translational displacement type, to a 4DOF robotic arm. This translational movement will be generated by a stepper motor connected through an endless screw with which the translational base will slide where the robotic arm will be attached, like CNC laser printing and cutting machines. The purpose of the system is to have a cyclical pick and place sequence. To validate the design, simulations of efforts present in each component and the torque necessary to move them, in the maximum state of reach of the robot, were carried out, obtaining the most critical points of torsion moments and forces generated in the base and the screws. robot clamping. The equations that govern the positioning of the entire system were calculated, the numerical values of these equations were implemented in a Matlab code, which sends the signals to the Arduino to control the movement of the servomotors. The program implemented in Matlab allows programming the autonomous and repetitive movement by fixed coordinates and variants for specific movement points, successful performance tests were carried out, for a mobile base of 900 mm the time of 30 seconds round trip was used, you can do faster, but you lose precision in scrolling.