Diseño, implementación y control de una plataforma de cuatro ruedas omnidireccionales con brazo robótico de 6 grados de libertad

Abstract

[ES] Este trabajo engloba todos los procesos y estudios pertinentes para la concepción de una plataforma omnidireccional con un brazo robótico integrado, orientado a tareas de Pick&Place.

Abarca desde el diseño de los diferentes componentes utilizando el software CATIA V5, la creación de los diferentes modelos de simulación usando la librería Simscape Multibody de Matlab para anticipar su comportamiento. El trabajo comprende también la implementación real usando piezas de impresión 3D y el microcontrolador Arduino Due junto a diferentes elementos electrónicos y mecánicos. Para el control del brazo se utilizará una aplicación Android con interfaz personalizada para su uso, que comunica con el microcontrolador vía Bluetooth.

[EN] The project encompasses all the processes, ranging from the initial idea to the assembly of a fully functional mobile manipulator consisting of an omnidirectional platform and a 6- Degree-of-Freedom robotic arm whose objective is to carry out Pick&Place tasks.

It looks into the design of various components using the CAD/CAM software CATIA V5 and the development of numerous simulation models employing Matlab2018b and its add-on product, Simscape Multibody, to anticipate the behaviour of the mechatronic system. Also included are the assembly and implementation phases operating with 3D printed parts and the Arduino Due microcontroller used in conjunction with diverse electronic and mechanical elements. A customized Android App is developed in order to control the robotic arm using Bluetooth connection. Being able to develop the construction of a mechatronic system from scratch was what motivated and propelled me to making this project become a reality, during which I have had the opportunity to put into practice and expand the vast range of know-how and skills I have acquired during my master's studies.