TY - GEN
T1 - Design and Implementation of a 3-DOF Robot for Surface Polishing
AU - De Los Ángeles Orozco Jiménez, Estefany
AU - Poveda, Diego Brenes
AU - Lazo, Ana Victoria Rojas
AU - Brenes-Torres, Juan Carlos
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This project involves the design and implementation of a three-degree-of-freedom (DOF) articulated robot to perform polishing tasks on an acrylic whiteboard. The system employs a theoretical-mathematical analysis to describe the robot, including forward and inverse kinematics, velocity and force calculations, as well as the generation of controlled trajectories. The Denavit-Hartenberg method is used to model the robot, allowing the definition of its parameters, such as the angles and displacements of the joints. Additionally, forces and torques applied to the joints are analyzed to ensure the proper execution of the polishing task. In the physical implementation, the robot uses stepper motors and servomotors controlled by an Arduino UNO R3 microcontroller. Experimental results showed that the robot is capable of performing the task effectively, although some failures were observed due to electronic components.
AB - This project involves the design and implementation of a three-degree-of-freedom (DOF) articulated robot to perform polishing tasks on an acrylic whiteboard. The system employs a theoretical-mathematical analysis to describe the robot, including forward and inverse kinematics, velocity and force calculations, as well as the generation of controlled trajectories. The Denavit-Hartenberg method is used to model the robot, allowing the definition of its parameters, such as the angles and displacements of the joints. Additionally, forces and torques applied to the joints are analyzed to ensure the proper execution of the polishing task. In the physical implementation, the robot uses stepper motors and servomotors controlled by an Arduino UNO R3 microcontroller. Experimental results showed that the robot is capable of performing the task effectively, although some failures were observed due to electronic components.
KW - Degrees of freedom (DOF)
KW - Denavit-Hartenberg (D-H)
KW - Jacobian
KW - kinematics
KW - trajectories
KW - waypoints
UR - https://www.scopus.com/pages/publications/105026946863
U2 - 10.1109/CONESCAPAN67936.2025.11229821
DO - 10.1109/CONESCAPAN67936.2025.11229821
M3 - Contribución a la conferencia
AN - SCOPUS:105026946863
T3 - Proceedings of 2025 IEEE Central America and Panama Student Conference, CONESCAPAN 2025
BT - Proceedings of 2025 IEEE Central America and Panama Student Conference, CONESCAPAN 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 42nd IEEE Central America and Panama Student Conference, CONESCAPAN 2025
Y2 - 23 September 2025 through 27 September 2025
ER -