Simulação computacional de um braço robótico planar de 2 graus de liberdade

Abstract

The use of robots in assembly lines increases competition in the market due to their agility and precision in executing tasks. The application is not limited to just one manufacturing step but also to the development of research and scientific studies on the modeling and control structure behind a robot. Building a robot requires a study of the relationship between its arms and joints, allowing the final product to reach points of interest in optimized configurations that avoid collisions or singularity problems. In this work, we will study the modeling of a benchtop robot with two degrees of freedom, with arms built using 3D printing and NEMA-17 motors. The arm length was limited to 30 millimeters due to printing limitations, and the trajectory was set to drilling points and a welding path on a workpiece. These limitations facilitate the construction of the robot in the research laboratory. All modeling will be done in the Simulink environment (MATLAB) and the mass distribution and assembly configuration will be studied using SolidWorks software. The aim is to obtain a modeling of the two-degree-of-freedom benchtop robot with programmable trajectories and tool changes, thus contributing to the development of research and academic training in the mechatronics field.