Design and optimization of the mechanical structure of an anthropomorphic robotic arm developed for educational purposes
Jesús García-Caicedo
Published 2019-10-02
Keywords
- robotic arm,
- anthropomorphic arm,
- mechanical design,
- educational robotics
How to Cite
Copyright (c) 2019 Revista UIS Ingenierías
This work is licensed under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Abstract
The following article presents the design and construction of the mechanical structure of an anthropomorphic robotic arm with four degrees of freedom for teaching purposes. The project started with a concept development phase obtaining six proposals designed to meet the customer needs. Subsequently, the selection of the concept to be developed was made taking as reference the product specifications. For the proposed concept were conducted seven phases of redesign that allowed achieving the proposed final design. Specifically, successive stages of simulation were carried out to analyze the dynamic response of the structure under the application of loads over time, to observe the stress state applied to each part and resize the links considering the previously defined limitations and specifications. With the results obtained, a structure was generated that meets the design specifications initially established, taking into consideration the constraints related to the servo motors to be used and the maximum load to be manipulated. Finally, the direct and inverse kinematic model of the arm is shown in addition to the final product developed.
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References
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