Mechatronics Design and Kinematic Simulation of UTP-ISR01 Robot with 6-DOF Anthropomorphic Configuration for Flexible Wall Painting

Jose Cornejo, Juan Palacios, Antonio Escobar, Yordan Torres

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

In the year 2020, countries were in a race against the spread of Covid-19, leading to major deficiencies in the areas of health, economy, and construction. For this reason, the robotics industry emerged as a viable and safe option to perform important and critical tasks in different sectors, one of them is the real estate. For this reason, a robotic arm was designed to wall painting, this study is supported by the mechatronics engineering department of the Universidad Tecnológica del Perú. The designed robot called: 'UTP-ISR01' has 6 axes and a linear displacement of 2.8 m with turns of 0.24 sec/60°. For the calculation of the forward kinematics the Denavit Hartenberg method was used, then the homogeneous transformation matrices were used to calculate the rotation and translation movements of the robotic manipulator. With the equations identified in the inverse kinematics, the positions and orientations of the robot were plotted, as well as the dimensions of the working area. The CAD design was carried out with engineering software, such as Autodesk Inventor for the mechanical design and assembly of the parts. In addition, with RoboDK software, kinematic simulations and analysis were performed. In conclusion, the robotic arm will reduce the delivery times of the apartments built by the real estate companies.

Original languageEnglish
Title of host publication2022 1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665436472
ISBN (Print)9781665436472
DOIs
StatePublished - 2022
Externally publishedYes
Event1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022 - Trichy, India
Duration: 16 Feb 202218 Feb 2022

Publication series

Name2022 1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022

Conference

Conference1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022
Country/TerritoryIndia
CityTrichy
Period16/02/2218/02/22

Keywords

  • condominiums
  • home automation
  • mechatronics
  • painter robot
  • real state
  • robotic arm

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