Diseño, Construcción y Control de un MicroRobot SCARA Industrial de Alta Precisión

Abstract

In the present work the design of a MircoRobot SCARA of high precision was realized, in order to assemble tiny pieces which are difficult for the human being. This work is constituted in first instance by the evolution that has had the Robotics from its birth to arriving at MicroRobotics. Later the stage of mechanical design of MicroRobot appears that is fundamental part in the construction of the mechanical skeleton of the prototype since it is in this stage where the suitable materials are chosen to reach the proposed objective, of equal way determines the anatomy and the movements that the prototype will realize. Within the framework of the control design the program of the virtual screen was realized with which MicroRobot will execute the orders of the person who use the PC, it can be regulated the speeds and accelerations, as well as its movements, also it is possible to recognize the problems that the robot generates, for that reason was necessary to realize tests to describe the functionality of the same MicroRobot and the virtual control. Having this information one chooses the control adapted to the needs of the task to carry out and the components that interact for the development of the same. In order to realize the man-machine connection and machine-machine, it was necessary to know the means by which we can contact, obtaining from this form a feedback in the operation of MicroRobot. The design of the interphase is on a Visual Basic platform. In the same way, the process so that it fulfills the requirements of the design and this form to obtain one better yield of the same prototype, once manufactured some of the pieces of the MicroRobot where the components will be mounted on the structure. As additional information is included an Annex in which it is deepened in the most important aspects of each one of the stages of design.