UNIVERSIDAD POLITÉCNICA

DEL CENTRO

GUION ROBOTIC ARM PROJECT

Matricula - Nombre del Alumno
004430-RUBEN DAVID HERNÁNDEZ DAMASCO
004424-ALAN YAHIR ANIMAS CASANOVA
004393-MIGUEL ANGEL SALAZAR REYES
004413-VICTOR MANUEL GARCIA RUIZ
004445-LUIS MANUEL SALVADOR VELAZQUEZ
004519-ESAU JESUS ASCENCIO ROSALES

Asignatura
INGLES VII

Profesor
MARIA FERNANDA DEL ANGEL

Cuatrimestre: 7

Grupo: M1-7

e-mail: HERNANDEZRUBEN544@GMAIL.COM

28 de noviembre de 2022
GUION GENERAL
Good morning today we come to present my robotic arm my team consist of Miguel
Ángel Salazar Reyes, Esaú Jesus Ascencio Rosales, Luis Manuel Salvador
Velázquez, Victor Manuel García Ruiz, Ruben David Hernández Damasco and
yours truly Alan Yahir Animas Casanova.

The project seeks to meet the following objectives

Know each behavior of the arm in each interaction through the programming.

Achieve excellent coordination and control between all parts of the robot to easily
position it in different positions.

Guarantee the proper functioning of the robotic arm, so that it is capable of handling
food such as shredded chicken meat.

Prepare food without human intervention

In this project we wanted to automate the process to prepare a sandwich using

robotic arms. The system consisted of 4 arms that had to do a specific task and our
team's arm had to put the chicken in the sandwich. We used a metallic structure for
the arm and the robot was made up of 5 axes, which allowed us to manipulate the
chicken and put it on the bread. We had to substitute the gripper for a spoon to get
it.

The materials used in this project are: joystick, breadboard, servomotors, jumpers,
straps, table that is you as the base and the structure of the robot, adjustable power
supplies were also used for the servomotors, the material of the robot base is made
of metal this because it is sturdy.

LABVIEW
The programming has been the most difficult part of the Project since we are facing
problems related to elections that at first we thought was the program itself, but then
we realized that there was a lack of enough Voltage.

In addition in the code there is a constant of 2.5 for the control of the servos because
the joysticks are like potenciometers but when moving and releasing them the
position is not saved, so a case stucture is used with a shift register to save the data
and then they are mapped to make them usable bye the servos and this is repeated
for the 6 servos.
The way to make the connections in our robot was the following:
- First of all we have the FPGA MyRIO, which is connected to the computer linked
to the LabVIEW software, which must be previously compatible.
- The MyRIO is where all the signals that allow the robot to be manipulated enter
and exit, in this case, the program allows us to have the data offered by the joysticks
as input signals, the output data is what will allow the robot to move, which basically
they are the servomotors moving the mechanisms.
- All voltage connections must go to the protoboard, remembering that all the
elements must share the same ground, to avoid failures.

The function of our robotic arm, as shown in the images, was basically the laying of
the shredded chicken with the help of a shovel as the end effector of the robotic arm,
as well as this we can do an infinite number of actions depending on the end effector.