Rediseño del robot cartesiano del laboratorio de automatización industrial de procesos mecánicos

Abstract

The objective of the present project was the redesign of the cartesian robot of the Industrial Automation Laboratory of Mechanical Processes (LAIPM) of the Mechanical Engineering Faculty of the National Polytechnic School. It was inspected the current state of the Cartesian robot, according to its morphology. Its mechanical structure, transmitters, reducers, actuators, sensors and terminal elements were determined. The mechanical redesign of the robot was made, proposing possible alternatives to the robot components, defective and damaged. From a weighting matrix, was determined the best alternatives that adapted to the needs of the user. The calculation of each selected alternative and its cost was made. This methodology allowed to define and materialize the optimum hardware and software solutions for the machine, in addition to the efficient communication of actuators and sensors with the Siemens S7-1200 PLC employee was designed and built an electronic circuit. An Arduino MEGA 2560 board was used as DC motor, load cell and relay of an electromagnet controller for its versatility and ease of coding. Finally, we performed protocols for testing the Cartesian robot to verify if it meets the stated objective (Classification of ferromagnetic objects by weight).