Construção e análise experimental de um braço robótico de cinco graus de liberdade

Abstract

Robotic arms are widely used in industry and have been extensively studied in scientific literature. There are open source tools capable of handling the simulation and execution of movements in physical robots, such as ROS, Gazebo, MoveIt, among others. This paper analyzes the structure and operation of a commercial robotic arm, the Viper X 300, from Interbotix, to serve as a basis for building a similar model. This robot has advanced programming capabilities that can be adapted for use by other robot models. The aim of the research was to build a manipulator robot using additive manufacturing techniques and DYNAMIXEL actuators, validating its kinematics. To do this, the appropriate software and hardware configurations were made. In addition, an experimental analysis of the effector’s gripper was carried out, along with an evaluation of the execution of the programmed movements on the physical robot.