Diseño e incorporación de un sistema de manipulación para el robot QUPA orientado a tareas de construcción colaborativa

Abstract

This project addresses the design, integration, and validation of a modular, low-cost manipulation system for the QUPA robot, aiming to enable it for cooperative construction tasks and overcome its limitations in physical interaction. To this end, a five-bar parallel SCARA-type manipulator was designed, manufactured using additive manufacturing and controlled by a modular electronic architecture. The software implementation was carried out in ROS, integrating a computer vision system for object detection and a decentralized coordination strategy for swarm operation. Experimental simulations demonstrated high individual reliability, with a 96% grasping success rate, a positioning accuracy of 4 mm, and an autonomy of 106 minutes under maximum load. The system's scalability was validated, as swarms of two and three robots reduced task completion time by 44.4% and 58.5%, respectively, compared to a single agent, while maintaining an aggregation efficiency of over 90%. It is concluded that the developed system is a functional, robust, and scalable solution that demonstrates the potential of swarm robotics in the automation of construction processes. Keywords: Swarm robotics, Construction, SCARA Module, Modular design.