Diseño e implementación de un brazo robótico industrial con 5 grados de libertad guiado por Kinect.

Abstract

The main purpose of this project was to design and implement an industrial robot arm with 5 degrees of freedom guided by Kinect. This robot arm was constructed in a 90% with metal (iron) to give it greater resistance and stability while for its movement three DC motors of 2.1 HP were implemented, and they were located in the first three joints due to the torque that is needed in this part of the arm. In the axes of these three motors, sensors (encoders) were placed to be able to control them with more precision, and two servomotors of 4.1kg. cm at the end, giving the robotic arm 5 degrees of freedom. A Kinect camera was used as a sensor to guide the prototype, this, made possible to get a three-dimensional image to calculate the depth with respect to the objects that surround it. The camera sends the images to the processor Raspberry Pi 3, which was programmed for the realization of the tracking of objects through Python to determine the position of the object where the final actuator will arrive in the three axes X, Y, Z. This design demonstrates that the robotic arm has an accuracy of 90%. After the implementation of the mechanical arm, it is concluded that a suitable lighting system is necessary in order to get outcomes with an appropriate level of reliability. It is recommended as a security measure; to have end-of-strokes strategically placed to provide structure and operator protection in case of a system failure.