Diseño e implementación de un brazo robótico de 3 grados de libertad utilizando actuadores elásticos en serie elaborados con técnicas de impresión 3D y aplicados a robótica de servicio

Abstract

CONDITION FOR PUBLICATION OF PROJECT. This project addresses the implementation of a robotic arm for service robotics applications, aimed at enhancing human-robot interaction safety through the use of series elastic actuators (SEAs) produced via additive manufacturing. The objective is to design and integrate a three-degree-of-freedom (3-DOF) manipulator featuring 3D-printed elastic elements that reduce structural stiffness and absorb impacts during interaction. It is hypothesized that incorporating these flexible components contributes to improving the system's mechanical behavior and overall safety. The project development included the design of the robotic arm, the selection of polymeric materials, CAD modeling of torsional springs, their fabrication through 3D printing, and the experimental characterization of their stiffness. Furthermore, a position control system based on PID control was implemented, and human-robot interaction experimental tests were conducted. The results showed that the fabricated elastic elements exhibited adequate torsional stiffness and enabled stable system performance under various operating conditions. It is concluded that the integration of 3D-printed series elastic actuators constitutes a viable alternative for developing safe and adaptable robotic arms in service robotics applications. Keywords: Human-Robot interaction, series elastic actuators, robotic arms, PID control systems, 3D printing.