Ensamblaje y Control de un Robot con Arquitectura Antropomórfica de 5 Grados de Libertad: Tomo I.

Abstract

In Volume I of this curricular integration work, the purpose is proposed, the assembly of an anthropomorphic robot with 5 degrees of freedom, capable of tracing predetermined figures, which is why anthropomorphic robots will be reviewed in the first instance in In general, its structure, definition and classification, likewise, the modeling of the kinematics, both direct and inverse, of the articulated robot with 5 degrees of freedom, since this varies depending on the type of anthropomorphic robot according to its type of control, this study is essential because, the spatial movement of the robot in relation to the articulated values ​​and the position of the final effector depends on the kinematics to be used. On the other hand, a bibliographic review of the degree project "Design and simulation of an object manipulating arm in high-risk areas for human beings" is carried out, developed as part of the PIMI-14-04 research project with the purpose of obtaining the plans to manufacture the parts that are part of the robot, as well as the actuators that must be used and its physical structure, once the aforementioned elements are known, the assembly of the robot will be carried out, additionally the design and implementation of the plate will be carried out control, that is, the low-level controller, the same one that is in charge of controlling the movement of the robot. All these components will be used for the complete mechanical design of the robot, the same one that will be used for the structure of the software stage that is detailed in volume II.