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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2022 1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665436472
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022 - Trichy, India
Duración: 16 feb. 202218 feb. 2022

Serie de la publicación

Nombre2022 1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022

Conferencia

Conferencia1st International Conference on Electrical, Electronics, Information and Communication Technologies, ICEEICT 2022
País/TerritorioIndia
CiudadTrichy
Período16/02/2218/02/22

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