MANUFACTURA DE UN BRAZO ROBÓTICO SCARA

Abstract

This thesis presents an investigation into the mechanical design, modeling and control of a SCARA robotic arm with three degrees of freedom to be used in the TIG welding application on metal components, and some considerations about its manufacturing process. In a first stage, we performed a review of the literature on the history of SCARA robots. This review was undertaken in order to identify and understand the operating principles and application of robotic manipulators in various assembly processes and manufacturing. The CAD system, SolidWorks was the platform used for the mechanical design of the prototype. With this software parameters were calculated static, dynamic and ground employees in mechanical design. The theoretical concepts and analytical solution of the direct and inverse kinematics were determined from Newton Euler method with the introduction of a new procedure that facilitates the calculation of this part of development. Finally, the results obtained by modeling and simulation are presented and discussed to validate the analysis