| Resumen |
This paper shown an experimental design, manufacturing and performance methodology for open-architecture robotic using emerging technologies. Therefore, We build a parallel robot prototype called delta robot that consisting of a closed kinematic chain. One of the critical operation of this system is on the link synchronization, so that the motions generated a valid trajectory to avoid damage to any part of the mechanism. In the computer-aided design Blender (R), 3D printers in the manufacturing with polylactide and acrylonitrile butadiene styrene material and the Python (R) game engine for programming has been used. Also, serial communication interface, 10 bit analogic digital conversion and pulse-width modulation with the MSP430 embedded system was used. The products confirm a low-cost manufacturing, mechanical strength in the parts for testing and the simulation compared to the real system for the movements through the z axis of the end effector. Accordingly, these results to create robotics systems with disposable or easy replacement to low-cost as a useful tool for the research is opened. |
