Diseño y análisis del funcionamiento estructural de un brazo robótico de nivel industrial de cuatro grados de libertad Diseño y análisis del funcionamiento estructural de un brazo robótico de nivel industrial de cuatro grados de libertad

Abstract

Within industries, a large number of people who perform repetitive work suffer from different occupational diseases. Those activities affect workers, due to the high biomechanical risks those activities represent, since performing those movements continuously can cause damage, whether temporary or permanent, which can compromise both the health of the workers and the quality of each product. Therefore, it was implemented a four degrees of freedom robotic arm, together with a grip-type end effector that allows non-stop processes to improve productivity and manufacturing processes in companies. The design of this prototype is carried out with design tools like Solidworks®, and simulated with tools like Matlab®. Those tools allow to carry out and define their axes of movement, and design part by part in order to solve different equations that are both at a dynamic level and at a static level, in order to study and analyze their behavior and identify the actions and activities developed by this type of robotic arm. This aims to reduce and avoid those biomechanical risk factors of the workers, that releases them to carry out other types of activities where their physical health is not affected.