Overview

Project in collaboration with Mondragon Unibertsitatea, Tecnológico de Monterrey campuses Puebla and Queretaro. My team and I worked on the End-Effector Subsystem where we designed and built a 3D-printed prototype of a robot gripper capable of collecting tomatoes using as sensors and actuators a limit switch, a potentiometer and a stepper motor. I had the specific task of writing the code of the embedded system that controlled its movement using an Arduino UNO, and we also programmed an UR10e industrial robot to follow a certain trajectory, mounted the gripper and tested the whole system which successfully completed the tasks of collecting a tomato and placing it on a container.

I improved my collaborative skills by working in person with my 4 teammates and by also being in touch with all the other teams from different campuses on their progress.

Tools

Hardware

  • Arduino UNO: microcontroller board.
  • Potentiometer: position sensor (gripper closed or opened).
  • Stepper motor: gear movement.
  • UR10e: robotic arm integration.
  • 3D printing: parts manufacturing
  • Gears: motion transmission.

Software

  • Arduino: programming language for embedded software development.
  • Arduino IDE: software environment for writing and running Arduino code.
  • PolyScope X: UR10e control.
  • SolidWorks: 3D design.

Objectives

  • Design a mechanical assembly to do the task of clamping and cutting the vegetable from the stem.
  • Perform simulations of maximum applied force to detect weak points in parts and assembly.
  • Carry out the electrical design including sensors and actuators in the end-effector.
  • Manufacture the prototype using additive manufacturing.
  • Design control for the end-effector.

Video