Diseño y simulación de un brazo robótico remotamente controlado; para manipulación de sustancias especiales en procesos industriales.

Abstract

The main objective of the project was to design and simulate a remotely controlled robotic arm for handling special substances in industrial processes; in order to minimize the risk for workers who handle substances classified as dangerous, and as well as generate greater productivity in industrial processes. This is achieved by developing a proposal for a robotic arm with a capacity of 2.5 kg, with various industrial features and remote control. For this, depending on the selected robot, mathematical models were generated that represent the kinematics and dynamics of links, which were designed and validated with the ANSYS, ADAMS, SOLIDWORKS and Matlab software; resulting in the sizing of links, selection of complementary elements, command proposal, remote control, and global costs that represent their implementation. It was determined that the ideal material for both mechanical resistance and corrosion was TECATRON, in addition to the fact that applying supports such as bracing in long links, resulted in the reduction of thicknesses with acceptable safety ranges. The importance of validating the chemical and mechanical properties of the material before manufacturing the components was also determined. As well as the role that mesh parameters play in the execution of finite element simulations