SCARA manipulators possess the features necessary for performing a stable work with precision and speed ( Yamazaki, 2014). In the many-jointed category we have industrial robots like the one shown in Figure 1 ( Adept – SCARA robots, n.d.).Īn industrial robot can be considered as a set of integrated subsystems that correspond to a manipulator or mechanical arm, a terminal effector, motor elements or actuators, information sensors, and controllers. There are various types of robots, which depending on their physical configuration can be classified into many-jointed, mobile, zoomorphic, android, and hybrid. Therefore, this paper presents the process of design and construction of a robot with a SCARA 1 configuration, which has great application in the present day industry ( Urrea & Kern, 2012). The implementation of a robot manipulator with 6 DOF allows for improving the control systems of industrial robots, in addition to proposing and validating new control systems. The present work arises from the compelling need of having real platforms to carry out scientific research and its corresponding validations. Thus, to know, study, improve, reprogram, and adequate these systems to different scenarios becomes necessary, so users can profit as much as possible from them ( Gómez et al., 2014 Siciliano & Khatib, 2008 Urrea & Kern, 2014). On the other hand, industrial robots can perform tasks during many hours per day without getting tired or losing precision or effectiveness, because they are currently highly developed and robust devices that practically do not fail. Therefore, industrial robots are increasingly used in modern and automated production processes, as well as in hazardous applications, in which their use is clearly justified. This has made it possible to improve the quality of products and the efficiency of their manufacturing ( Ben-Gharbia, Maciejewski, & Roberts, 2014 Urrea & Kern, 2014). In general, industrial robots are employed to carry out repetitive jobs and/or those that require precision and speeds difficult to achieve by human beings. Nowadays, industrial robots are used for the automation of a variety of tasks such as assembling, transfer of materials, all kinds of welding, precision cutting of materials, palletizing, painting, remote surgical procedures, among many possible applications ( López, Castelán, Castro, Peña, & Osorio, 2013 Siqueira, Terra, & Bergerman, 2011). Over the past few decades, robotics has played a very important part in process automation, with robot manipulators assuming a leading role in the development of several productive areas. Measurement devices (pressure, temperature, flow, voltage, frequency etc.), precision engineering, medical devices, instrumentation for education (devices and software), sensor technology, mechatronics and robotics. Solid-state physics, radio engineering, telecommunications, control systems, signal processing, power electronics, electronic devices and circuits and automation. Operations research, systems engineering, management science, complex systems and cybernetics applications and information technologies Electronic Engineering
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