Diseño y simulación de un manipulador robótico articulado para soldadura por arco para carpintería metálica

Abstract

This document details the design and simulation process of an articulated manipulator for welding in metalwork for use in manufacturing MSMEs of the country. First, the mechanical design of the product was carried out using concurrent engineering, starting with the conceptual design, in which the functional analysis, definition of modules and choice of solutions were developed. Then, in the materialization design, structural analyzes of the manipulator components was conducted and the dimensions and materials of the product were established, materialized in a CAD model. The CAD model was then imported into Matlab and a robotic model was created. With this model, a path generator program was created that defined the commands for the robot to perform the welding process on rectangular paths. Then, the components of the robot's mechatronic system were chosen. With these elements a dynamic control system was selected. Finally, a simulation of the behavior of the robotic manipulator was done in Simulink to assess its correct operation. As a result, the design of the manipulator was obtained that meets the requirements expressed in the technical specifications and with a lower cost than the existing products on the market.