DidaPlat: plataforma robótica de bajo costo con 3 GDL para fines educativos
Fecha
2019-11
Autores
Navarro Noa, Leonardo
Ávalos García, Julio Javier
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Resumen
El avance tecnológico y el desarrollo en el campo de la robótica han hecho de los robots un factor indispensable para el progreso de la humanidad y su propia educación. En tal sentido esta investigación presenta la creación de un prototipo de robot paralelo de tres grados de libertad que pueda ser empleado como medio de enseñanza, con un enfoque de bajo costo y la posibilidad de seguimiento de trayectorias. El robot es diseñado teniendo en cuenta las tendencias actuales presentes en la literatura especializada, demostrándose la novedad del tema. Por otro lado, se obtienen las ecuaciones de la cinemática inversa del robot creado que son validadas tras realizar las pruebas
experimentales. El hardware que forma parte del control del robot, así como del procesamiento de los datos, cumple satisfactoriamente con los requisitos que exige el sistema desarrollado. La interfaz creada para el manejo del robot posee tres modos: Automático, Manual y Trayectorias Preprogramadas, que permiten operar la plataforma de diferentes formas. Las pruebas experimentales se desarrollaron para cada uno de los modos de operación y se validaron por medio de la medición del alabeo y el cabeceo a través de una Unidad de Medición Inercial.
Technological progress and development in the field of robotics have made robots an indispensable factor for the progress of humanity and their own education. This research presents the creation of a three-degree parallel robot prototype that can be used as a teaching medium, with a low-cost approach and the possibility of trajectory tracking. The robot is designed taking into account current trends in specialized literature, demonstrating the novelty of the subject. On the other hand, the equations of the inverse kinematics of the created robot that are validated after the experimental tests are obtained. The hardware that is part of the robot's control, as well as the data processing satisfactorily meets the requirements demanded by the developed system. The interface created for handling the robot has three modes: Automatic, Manual and Preprogrammed Trajectory, which allow the platform to operate in different ways. Experimental tests were developed for each of the modes of operation and were validated by measuring the warping and pitching through an Inertial Measurement Unit.
Technological progress and development in the field of robotics have made robots an indispensable factor for the progress of humanity and their own education. This research presents the creation of a three-degree parallel robot prototype that can be used as a teaching medium, with a low-cost approach and the possibility of trajectory tracking. The robot is designed taking into account current trends in specialized literature, demonstrating the novelty of the subject. On the other hand, the equations of the inverse kinematics of the created robot that are validated after the experimental tests are obtained. The hardware that is part of the robot's control, as well as the data processing satisfactorily meets the requirements demanded by the developed system. The interface created for handling the robot has three modes: Automatic, Manual and Preprogrammed Trajectory, which allow the platform to operate in different ways. Experimental tests were developed for each of the modes of operation and were validated by measuring the warping and pitching through an Inertial Measurement Unit.
Descripción
Palabras clave
Robot Paralelo, Robótica Educativa, Cinemática Inversa, Bajo Costo, Seguimiento de Trayectorias
Citación
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Navarro Noa, L., & Avalos García, J. J. (2019). DidaPlat: plataforma robótica de bajo costo con 3 GDL para fines educativos. Serie Científica de la Universidad de las Ciencias Informáticas, 12(11), 1-9