6 DOF anthropomorphic robot as a platform for teaching robotics

摘要

An important field of research within mechatronics includes the development of robotic platforms based on open source platforms, primarily focused on the operating system ROS (Robot Operating System). The main disadvantage regarding commercial robotic manipulators is based on the lack of flexibility in design, because constantly hardware is protected by copyright or partially released. There is a need to develop a platform that facilitates robotics teaching and learning focused on open hardware and software with industrial applications. For the development of the project, the mechatronic systems design methodology proposed in the VDI 2206 standard was used. As a result, an anthropomorphic Open Software and Open Hardware Robot (OSH-OSS) with six degrees of freedom were obtained with a precision of 2.03 [mm] and repeatability of \pm 4.89 [mm], with a payload of 0.15 [kg] and a payload ratio of 5.21%. The proposal to replicate the manipulator within the subject of industrial robotics at the undergraduate level proved to improve the technical performance of the participants, facilitating the learning and the assimilation of complex concepts to acquire theoretically.