Diseño e implementación de una celda robotizada clasificadora utilizando un robot delta 3RSS y un sistema de visión artificial.

Abstract

Robotized cells have become an important part of any industry, they have made industrial work much easier and faster like painting, welding or palletizing, having a very important role in development. This type of implementation depends on being very expensive, for this reason the institutions do not always have this type of facilities to prepare their students in this field of application. In this project, the planning, design, construction and development of a robotic cell is presented in a general way, implementing a pick and place process, the quality is able to detect objects that are moving through a conveyor belt, through a system of artificial vision, which will be held by a parallel delta robot. Initially, the physical structure of the cell was designed together with its respective electronic and electrical system, taking into account safety parameters such as safety switches, material barriers. The design and construction of the conveyor belts was carried out and finally a parallel delta-type robot was redesigned, implementing the kinematic analysis and an optimization algorithm in order to find the most optimal measurements of its links and recently performed simulations of the robot to verify its scope, taking into account their respective restrictions such as mechanical and singular points. Verify an artificial vision system with the aim of recognizing and locating the objects or pieces present in the band by implanting an algorithm detected the circles through the transformation of Hough. And a kinematic control system in charge of the planning and execution of trajectories so that the robot can move to the desired positions in a given time. Finally, the systems were synchronized in order to execute the task, locating and moving the objects that are in motion.