Diseño y construcción de un brazo mecánico de tres grados de libertad


Authors

  • Jesús Otero Yugat
  • Sagid Enrique Rodríguez
  • José Javier Gutiérrez

DOI:

https://doi.org/10.22517/23447214.3191

Abstract

En este artículo se presenta la metodología empleada para el diseño y la construcción de un robot de tres grados de libertad con configuración angular, cuyos movimientos son definidos por medio de un algoritmo de control desarrollado en el entorno de MATLAB, e impulsados por medio de dos motores paso a paso y un cilindro neumático de doble efecto. Se ha seleccionado el poliuretano de alta densidad como material constructivo del dispositivo, como consecuencia de la versatilidad de sus propiedades mecánicas. Adicionalmente, se expone el análisis cinemático realizado así como también el estudio de la matriz jacobiana asociada al robot.

Downloads

Download data is not yet available.

Downloads

Published

2008-08-30

How to Cite

Otero Yugat, J., Rodríguez, S. E., & Gutiérrez, J. J. (2008). Diseño y construcción de un brazo mecánico de tres grados de libertad. Scientia Et Technica, 2(39). https://doi.org/10.22517/23447214.3191

Issue

Vol. 2 No. 39 (2008)

Section

Mecánica

License

Copyrights

The journal is free open access. The papers are published under the Creative Commons Attribution / Attribution-NonCommercial-NoDerivatives 4.0 International - CC BY-NC-ND 4.0 license. For this reason, the author or authors of a manuscript accepted for publication will yield all the economic rights to the Universidad Tecnológica of Pereira free of charge, taking into account the following:

In the event that the submitted manuscript is accepted for publication, the authors must grant permission to the journal, in unlimited time, to reproduce, to edit, distribute, exhibit and publish anywhere, either by means printed, electronic, databases, repositories, optical discs, Internet or any other required medium. In all cases, the journal preserves the obligation to respect, the moral rights of the authors, contained in article 30 of Law 23 of 1982 of the Government Colombian.

The transferors using ASSIGNMENT OF PATRIMONIAL RIGHTS letter declare that all the material that is part of the article is entirely free of copyright.  Therefore, the authors are responsible for any litigation or related claim to intellectual property rights. They exonerate of all responsibility to the Universidad Tecnológica of Pereira (publishing entity) and the Scientia et Technica journal. Likewise, the authors accept that the work presented will be distributed in free open access, safeguarding copyright under the Creative Commons Attribution / Recognition-NonCommercial-NoDerivatives 4.0 International - https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es license.