DEVELOPMENT AND CONTROL OF A PROTOTYPE TYPE SCARA AND GANTRY APPLIED TO EDUCATIONAL ROBOTICS
Miguel Barreto da Silva Neto1; Jonatas Iago Silva1; Mateus F. da Silva Lins1; Alexander PC de Sena1
1 Departamento de Engenharia Mecânica, IFPE
doi:10.20906/CPS/COB-2015-0048
Resumo
This paper presents the development and manufacture of a robot manipulator SCARA type with five degrees of freedom, and a Cartesian robot type Gantry, applied to the educational field, whose methodology will employ the goal of accounting, functionality and optimization costs. The prototype SCARA presents an innovation over traditional fixed-base manipulators modifying this structure to develop horizontal linear motion, which will provide a greater extent of workload, minimizing a present limitation of these machines. The Gantry system will be idealized with the possibility of positioning in three axes of movement, two horizontals perpendiculars to each other, and other vertical to which can be added an effector any the fixing base, and may function as 3D printer, rapid prototyping printed circuit boards, among others. The trajectory control systems of the machines are of the continuous type, using stepper motors with microstepping drive in open loop. The manipulators have gone through stages of development and experimental testing of their mechanical systems, interface circuits, embedded systems and programming, in order to explore all the speed characteristics and repeatability of positioning.
Palavras-chave: Prototype; Low Cost; Microstepping; Education; Manipulators