{"id":1190,"date":"2025-11-13T16:23:51","date_gmt":"2025-11-13T16:23:51","guid":{"rendered":"https:\/\/www.unitec.edu\/conicieti\/?post_type=poster&#038;p=1190"},"modified":"2025-11-13T16:54:45","modified_gmt":"2025-11-13T16:54:45","slug":"kinematic-approach-of-adding-two-degree-of-freedom-to-6-dof-robotic-arm-with-an-iot-end-effector","status":"publish","type":"poster","link":"https:\/\/www.unitec.edu\/conicieti\/poster\/kinematic-approach-of-adding-two-degree-of-freedom-to-6-dof-robotic-arm-with-an-iot-end-effector\/","title":{"rendered":"Kinematic Approach of Adding Two Degree of Freedom to 6-DoF Robotic Arm with an IoT End-Effector"},"content":{"rendered":"<h2>Antecedentes<\/h2>\n<p><span style=\"font-weight: 400;\">La revoluci\u00f3n de la Industria 4.0 ha impulsado la integraci\u00f3n del Internet de las Cosas (IoT) en diversos sectores industriales. Dentro de este contexto, surge el concepto del Internet de las Cosas Rob\u00f3ticas (IoRT), que permite el control y monitoreo de robots de forma remota, mejorando su eficiencia, seguridad y adaptabilidad.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Se han realizado investigaciones previas en efectores finales y grippers inteligentes, as\u00ed como en la aplicaci\u00f3n de protocolos de comunicaci\u00f3n como MQTT para conectar sensores, actuadores y microcontroladores con interfaces gr\u00e1ficas.<\/span><\/p>\n<h2>Objetivos<\/h2>\n<ul>\n<li><span style=\"font-weight: 400;\">Dise\u00f1ar y desarrollar un efector final con dos grados de libertad para un brazo rob\u00f3tico de seis grados de libertad, incorporando conectividad IoT para su control y monitoreo remoto a trav\u00e9s de Node-RED y el protocolo MQTT.<\/span><\/li>\n<\/ul>\n<h2>Metodolog\u00eda<\/h2>\n<p><span style=\"font-weight: 400;\">Se dise\u00f1\u00f3 el efector final utilizando SolidWorks, realizando simulaciones mec\u00e1nicas para validar su resistencia ante cargas de 3 libras. El controlador fue dise\u00f1ado en Proteus y programado con Arduino IDE sobre un microcontrolador ESP32, capaz de conectarse a redes WiFi. Se emple\u00f3 Node-RED en una Raspberry Pi como servidor local que gestiona la comunicaci\u00f3n IoT mediante MQTT. La programaci\u00f3n se dividi\u00f3 en recepci\u00f3n de comandos para servo motores y transmisi\u00f3n de datos de un sensor MPU6050 hacia la interfaz gr\u00e1fica.<\/span><\/p>\n<h2>Resultados<\/h2>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><span style=\"font-weight: 400;\">Se fabric\u00f3 un efector final de dos grados de libertad con un sistema de transmisi\u00f3n de engranajes y un gripper de dos dedos.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><span style=\"font-weight: 400;\">Se logr\u00f3 comunicaci\u00f3n efectiva entre el ESP32 y Node-RED con una latencia promedio de <\/span>71.6 ms.<\/li>\n<\/ul>\n<ul>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><span style=\"font-weight: 400;\">El dise\u00f1o mec\u00e1nico fue validado por simulaciones de esfuerzos y deformaciones.<\/span><\/li>\n<li style=\"font-weight: 400;\" aria-level=\"2\"><span style=\"font-weight: 400;\">Se integr\u00f3 un sensor MPU6050 para retroalimentaci\u00f3n\u00a0 de movimiento y orientaci\u00f3n. <\/span>El sistema final posee 8 grados de libertad y puede controlarse remotamente en tiempo real.<\/li>\n<\/ul>\n<h2>Conclusiones\/Recomendaciones<\/h2>\n<p><span style=\"font-weight: 400;\">El desarrollo del efector final con conectividad IoT demuestra la viabilidad de integrar la rob\u00f3tica con tecnolog\u00edas de la Industria 4.0. Se recomienda profundizar en configuraciones avanzadas de MQTT y Node-RED, as\u00ed como explorar algoritmos de control m\u00e1s robustos y seguros. Esta integraci\u00f3n sienta las bases para entornos industriales inteligentes, capaces de adaptarse din\u00e1micamente a condiciones cambiantes mediante monitoreo y control remoto.<\/span><\/p>\n","protected":false},"featured_media":0,"template":"template-poster-p2025.php","categories":[12],"colaboracion":[17],"investigador":[37,35,16,36],"tipo":[7],"class_list":["post-1190","poster","type-poster","status-publish","hentry","category-12","colaboracion-unitec-facultad-de-ingenieria","investigador-andre-colindres","investigador-javier-edgardo-caballer","investigador-jorge-chiuz-flores","investigador-juan-carlos-dubon","tipo-impresos"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.2 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Kinematic Approach of Adding Two Degree of Freedom to 6-DoF Robotic Arm with an IoT End-Effector<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.unitec.edu\/conicieti\/poster\/kinematic-approach-of-adding-two-degree-of-freedom-to-6-dof-robotic-arm-with-an-iot-end-effector\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Kinematic Approach of Adding Two Degree of Freedom to 6-DoF Robotic Arm with an IoT End-Effector\" \/>\n<meta property=\"og:description\" content=\"Antecedentes La revoluci\u00f3n de la Industria 4.0 ha impulsado la integraci\u00f3n del Internet de las Cosas (IoT) en diversos sectores industriales. 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