Prototipagem de robô manipulador com cadeia cinemática aberta, três juntas rotacionais e ímã como órgão terminal.

Abstract

Robot manipulators, also known as robotic arms, represent one of the fundamental pillars of modern industrial automation, reproducing human movements in a precise, repetitive, and controlled manner, applying principles of mechanics, electronics, and automated control. Their structure is generally composed of links and articulated joints that allow degrees of freedom, enabling them to perform complex tasks such as delivery, painting, assembly, material delivery, and part inspection. This project aims to develop a prototype robot manipulator with an open kinematic chain and three rotational joints (RRR), controlled by an Arduino microcontroller. The project encompasses the design, construction, and validation of the manipulator, focusing on its application in precise manipulation tasks. The research will be conducted in sequential stages, including a literature review, modeling and simulation of the robot, construction of the prototype, and evaluation of its performance. During the construction phase of the manipulator, joysticks will be used for manual control. In the next phase, the objective is to program the manipulator to perform autonomous operations. The manipulator's terminal organ will be magnetic, enabling the precise manipulation of metal objects. Upon completion of the project, we hope to deliver a manipulator with two modes of operation: manual, via joystick, and autonomous, via programming. The prototype will be evaluated for its accuracy, repeatability, and ability to perform specific tasks. This research aims to contribute to the advancement of robotics, especially in industrial and automation applications.

Keywords: design; modeling; simulation; construction; magnetic