Diseño e Implementación de un Robot Paralelo en Configuración Delta Controlado Mediante el sensor Kinect desde Windows.

Abstract

A Delta Robot was designed and implemented using a Kinect sensor from Windows in order to synchronize the movements of the robot arm operator Delta robot. It was based on the inverse kinematic analysis and workspace control algorithms and a graphical interface that was implemented through libraries Open NI and Nite software Processing for opening and tracking tilt of the hand. SolidWorks design software facilitated the analysis of each piece allowing to detect possible structural problems in the early stages of the design and proper selection of materials for the construction of the robot, using the finite element method, the study of tension and static displacement. A Delta robot of 5 freedom degrees was obtained. Its dimensions provided a space for acceptable work with 65.932,86 cm3 of volume. A routine of serial communication a bits level between software and a developed card Arduino which gives it movement ability of the servomotors for the end effector reaches the most quantity of points in the workspace. The synchronization between the movement of the robot and the user through a natural control system, this is a breakthrough in the study of parallel robotic platforms for industrial applications in tasks such as classification, packaging and dangerous process for the user.