Construção de um braço robótico didático com três graus de liberdade controlado por Arduino

• Autor(a) principal: Oliveira, Eduardo Lino de
• Data de Publicação: 2014
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Texto Completo: http://repositorio.utfpr.edu.br/jspui/handle/1/27312
• topic: Robótica; Manipuladores (Mecanismo); Arduino (Controlador programável); Robotics; Manipulators (Mechanism); Arduino (Programmable controller); CNPQ::ENGENHARIAS

This completion of course work consists of construction of a robotic arm with control software for Arduino® which aims to aid in the teaching work. The system consists of an articulated robotic manipulator with three degrees of freedom, rotating together with drive servomotors, a gripper with two fingers, controlled by a programming language and open loop control. For it will be presented a brief history of robots, robotic arm settings and kinematic calculations. Specifically knowing all the components and their workings included in the project, a narrative is presented step by step construction, presenting the results was obtained. Thus the approach trajectory becomes possible, which is applied in two ways: by automatic path planning and joystick controls where the user manually. Finally we present the concluding remarks, shows the difficulties and make suggestions for possible jobs that can be applied to the project.