Desarrollo de un brazo robótico de 2 DOF impreso en 3D, a través de un PIC 18f46k22 y MATLAB para el trazo de contornos de imágenes

Article Sidebar

volumen 17
PDF
Published: Nov 15, 2023
Keywords:
MATLAB, 2R robotic arm, image processing, PIC 18F46K22, 3D printing

Main Article Content

Angie Paola Mancipe García
Universidad ECCI
https://orcid.org/0009-0004-5630-3892
Nicolás David Barrera Fonseca
Universidad ECCI
https://orcid.org/0009-0006-7353-8241
Diego Alfonso Rojas Sarmiento
Universidad ECCI
https://orcid.org/0000-0002-2962-6061
Fabián Barrera Prieto
Universidad ECCI
https://orcid.org/0009-0004-4055-7978

Abstract

This paper describes the development of a prototype of a 2R robotic arm, used for character writing by servo motors, programmed to design the contours of different images through a low-cost microcontroller (PIC 18F46K22) and MATLAB. These elements were communicated through UART. Likewise, the communication between the PIC and the servomotors was performed by I2C, taking into account the servomotor driver (PCA9685). In addition, the respective simulations of operation were carried out using Peter Corke's robotics toolbox in MATLAB. The results obtained are presented in both physical and simulation, which are satisfactory, however these results have a margin of error in the traces. Finally for implementation, the parts were designed in SolidWorks to be subsequently 3D printed using PLA, a material chosen for its versatility and durability, ensuring the precision and strength required for the 2R robotic arm.

Downloads

Download data is not yet available.

Article Details

How to Cite
Mancipe García , A. P. ., Barrera Fonseca, N. D. ., Rojas Sarmiento , D. A. ., & Barrera Prieto , F. (2023). Desarrollo de un brazo robótico de 2 DOF impreso en 3D, a través de un PIC 18f46k22 y MATLAB para el trazo de contornos de imágenes. I+ T+ C- Research, Technology and Science, 1(17). Retrieved from https://revistas.unicomfacauca.edu.co/ojs/index.php/itc/article/view/406
Issue
Vol. 1 No. 17: I+T+C Journal: Research, Technology and Science
Section
Research Papers
Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

All the texts published in this magazine are distributed under a Creative Commons License «Attribution-Non-Commercial-Share the same»

References

Aspectos Básicos de la industria 4.0 - MINTIC. Disponible en: https://colombiatic.mintic.gov.co/679/articles-124767_recurso_1.pdf (consultado 17-07-2023)

A. D. Shakibjoo and M. D. Shakibjoo, "2-DOF PID with reset controller for 4-DOF robot arm manipulator," 2015 International Conference on Advanced Robotics and Intelligent Systems (ARIS), 2015, pp. 1-6, doi: 10.1109/ARIS.2015.7158355.

R. K. Megalingam, S. Boddupalli and K. G. S. Apuroop, "Robotic arm control through mimicking of miniature robotic arm," 2017 4th International Conference on Advanced Computing and Communication Systems (ICACCS), 2017, pp. 1-7, doi: 10.1109/ICACCS.2017.8014622.

Procesamiento de Imágenes Con Matlab - US. Disponible en: https://personal.us.es/majiro/2014_10_10_clase2.pdf (consultado 17-07-2023).

Cordoba, M.L. Control de Movimiento y Planificación de UN Robot Esférico. Disponible en:https://inaoe.repositorioinstitucional.mx/jspui/bitstream/1009/2032/1/LunaCM.pdf (consultado 24-07-2023).

(PIC18F46K22) Microchip technology. Disponible en: https://ww1.microchip.com/downloads/en/DeviceDoc/40001412G.pdf (consultado 24-07-2023)

Pérez López, C. (2014). Introducing MATLAB and the MATLAB Working Environment. MATLAB Differential Equations, 1–31. doi:10.1007/978-1-4842-0310-1_1 (consultado 24-07-2023) .

GUÍA RÁPIDA DE MPLAB RIUBU Principal Disponible en: https://riubu.ubu.es/bitstream/handle/10259/3560/Crear_un_proyecto_en_MPLAB_X%20V2.01.pdf;jsessionid=307303AE6A57F8DEB87EEA16FA869809?sequence=1 (consultado 25-07-2023)

Corke, P. I. (1996). A robotics toolbox for MATLAB. IEEE Robotics and Automatio Magazine, 3(1), 24–32. https://doi.org/10.1109/100.486658

B. R. Hunt, R. L. Lipsman y J. M. Rosenberg. "A Guide to MATLAB for Beginners and Experienced Users". Cambridge. Disponible en: http://www.uop.edu.pk/ocontents/A%20Guide%20to%20MATALB.pdf (consultado 25-07-2023)

F. I. Tiberiu Petrescu y R. V. Petrescu. "Direct and inverse kinematics to the anthropomorphic robots". Engevista. Disponible en: https://www.researchgate.net/publication/305701095_Direct_and_inverse_kinematics_to_the_anthropomorphic_robots (consultado 25-07-2023)

A. D. Joya Barón, J. A. Martínez Guevara y D. A. Pardo Murcia. "Metodo DH en MATLAB Robot Fanuc". Stuvia. Disponible en: https://www.stuvia.com/doc/570269/metodo-dh-en-matlab-robot-fanuc (consultado 27-07-2023).

Díaz Mulas, B. (2015) UART: Universal asynchronous receiver-transmitter, e. Disponible en: https://e-archivo.uc3m.es/handle/10016/23730 (consultado 27-07-2023)

Ripoll Ramzi, C. (1970). Disponible en: https://repositorio.comillas.edu/xmlui/handle/11531/22910 (consultado 28-07-2023)

Comunicación - Bus I2C - Bolanosdj.com.ar. Disponible en: https://bolanosdj.com.ar/MOVIL/ARDUINO2/ComunicacionBusI2C.pdf (consultado 28-07-2023)

Introducción a SOLIDWORKS - official Solidworks Community. Disponible en: https://my.solidworks.com/solidworks/guide/SOLIDWORKS_Introduction_ES.pdf (consultado 28-07-2023).

Robot de 2 DOF programado con MatLab® (guide y Peter Corke) y Arduino uno para escritura de caracteres alfabéticos XVII CONGRESO INTERNACIONAL DE ELECTRÓNICA CONTROL Y TELECOMUNICACIONES. pp. 793-814 Disponible en: https://www.dropbox.com/s/mazilw4a6f5vo68/MEMORIAS_CIECT_XVII_FINAL.pdf?dl=0 (consultado 28-07-2023)