{"id":35,"date":"2019-04-23T20:04:00","date_gmt":"2019-04-23T20:04:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=35"},"modified":"2019-05-04T17:26:38","modified_gmt":"2019-05-04T17:26:38","slug":"brazo-robotico-con-iman","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/brazo-robotico-con-iman\/","title":{"rendered":"Brazo rob\u00f3tico con iman"},"content":{"rendered":"<h2 class=\"MsoNormal\">1. Introducci\u00f3n<span style=\"font-size: large;\"><b><br \/>\n<\/b><\/span><\/h2>\n<div class=\"MsoNormal\">Brazo rob\u00f3tico con im\u00e1n para poder mover peque\u00f1os objetos de<br \/>\nmetal. El brazo es controlado mediante una aplicaci\u00f3n para smartphone.<\/div>\n<h2>2. Materiales y presupuesto<\/h2>\n<ul>\n<li class=\"MsoNormal\">Materiales:\n<ul>\n<li class=\"MsoNormal\">Kit brazo madera cortado a laser y 3 servos motores SG90. Coste: ~30\u20ac<\/li>\n<li class=\"MsoNormal\">Placa Arduino Uno Rev3 (Proporcionada por el profesor)<\/li>\n<li class=\"MsoNormal\">Breadboard. Coste: ~4\u20ac<\/li>\n<li class=\"MsoNormal\">Cables: Coste: \u00a0~7\u20ac<\/li>\n<li class=\"MsoNormal\">Transmisor Bluetooth (HC-05). Coste: ~4\u20ac<\/li>\n<li class=\"MsoNormal\">M\u00f3dulo electroim\u00e1n KEYSTUDIO. Coste: \u00a0~13\u20ac<\/li>\n<li class=\"MsoNormal\">Smartphone (App)<\/li>\n<\/ul>\n<\/li>\n<li class=\"MsoNormal\">Presupuesto: ~58\u20ac<\/li>\n<\/ul>\n<h2>3. Montaje<b><\/b><\/h2>\n<p><a href=\"http:\/\/3.bp.blogspot.com\/-DO1REV9yXKc\/XL9vhDWRbzI\/AAAAAAAAAFM\/-K32dHcfpPMu_xzEAj5eARGAdNb8YTb5gCK4BGAYYCw\/s1600\/1.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/1-2.jpg\" width=\"408\" height=\"298\" border=\"0\" \/><\/a><\/p>\n<div><\/div>\n<div class=\"MsoNormal\">A partir de la madera cortada a laser procedimos a montar el brazo por completo. Este brazo ven\u00eda adaptado para poder utilizarse con una\u00a0 pinza que con la ayuda de un servo se habr\u00eda o cerraba.<\/div>\n<div><\/div>\n<div class=\"MsoNormal\">Para nuestro proyecto tuvimos que tomar las piezas que se utilizaban en la pinza y adaptarlas para poder utilizar el electroim\u00e1n.<\/div>\n<div class=\"MsoNormal\">Posteriormente a esta modificaci\u00f3n, que podemos ver en las siguientes fotos, el im\u00e1n quedaba en un \u00e1ngulo adecuado para poder atrapar los objetos de metal.<\/div>\n<div><\/div>\n<p><a href=\"http:\/\/1.bp.blogspot.com\/-Auj77cNAxXE\/XL9vos3JHiI\/AAAAAAAAAFU\/TxuLhetIAnkvKx-qSv54FIwZRfIcq84UACK4BGAYYCw\/s1600\/2.jpg\"><img decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/2-2.jpg\" border=\"0\" \/><\/a><a href=\"http:\/\/4.bp.blogspot.com\/-U5vgRuj6CUw\/XL9vosC8CqI\/AAAAAAAAAFc\/E7JI_laWvU4xwgDam1-5QzJTydwxlV7NACK4BGAYYCw\/s1600\/3.jpg\"><img decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/3-3.jpg\" border=\"0\" \/><\/a><\/p>\n<h2 class=\"MsoNormal\">\n4. C\u00f3digo<\/h2>\n<div class=\"MsoNormal\">Una anotaci\u00f3n para tener en cuenta antes de ver el c\u00f3digo es que este posee algunas condiciones para que los \u00e1ngulos de los servos no se \u201ccontradigan\u201d unos con otras y as\u00ed evitar que puedan romperse.<\/div>\n<div><\/div>\n<div>\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"c\">#include &lt;Servo.h&gt;\nServo movil;\nServo codo;\nServo hombro;\nServo base;\nchar a;\nint baseN = 90;\nint hombroN = 90;\nint codoN = 145;\nint iman = 7;\nString readString;\nvoid setup() {\n  pinMode(13, OUTPUT);\n  pinMode(iman, OUTPUT);\n  codo.attach(9);\n  hombro.attach(10);\n  base.attach(11);\n  Serial.begin(9600);\nmovil.write(90);\n  \/*codo.write(100);*\/\n  codo.write(codoN);\n  hombro.write(hombroN);\n  base.write(baseN);\n  delay(10);\n}\nvoid loop() {\n  if (Serial.available()) {\n    a = Serial.read();\n    switch (a) {\n      case \u20180\u2019:\n        baseN = 90;\n        hombroN = 90;\n        codoN = 145;\n        base.write(baseN);\n        hombro.write(hombroN);\n        codo.write(codoN);\n        break;\n      case \u20181\u2019:\n        if (baseN &lt;= 180) {\n          baseN += 3;\n          base.write(baseN);\n          delay(10);\n        }\n        break;\n      case \u20182\u2019:\n        if (baseN &gt;= 0) {\n          baseN -= 3;\n          base.write(baseN);\n          delay(10);\n        }\n        break;\n      case \u20183\u2019:\n        \/\/hombro acercarse\n        if (hombroN &lt;= 170) {\n          hombroN += 4;\n          hombro.write(hombroN);\n        }\n        break;\n      case \u20184\u2019:\n        \/\/hombro alejarse\n        if (hombroN &gt;= 90) {\n          hombroN -= 4;\n          hombro.write(hombroN);\n        }\n        break;\n      case \u20185\u2019:\n        if (codoN &lt; 170) {\n          codoN += 2;\n          codo.write(codoN);\n        }\n        break;\n      case \u20186\u2019:\n        \/\/codo abajo\n        if (codoN &gt; 0) {\n          if ((hombroN &lt; 120)\n&amp;&amp; (hombroN \u2013 10) &gt; (180 \u2013 codoN) || (hombroN \u2013 50) &gt; (180 \u2013\ncodoN)) {\n            codoN -= 2;\n            codo.write(codoN);\n          }\n        }\n        break;\n      case \u20187\u2019:\n        \/\/coge\n        if (a == \u20187\u2019) {\n          digitalWrite(iman, HIGH);\n        }\n        break;\n      case \u20188\u2019:\n        if (a == \u20188\u2019) {\n          digitalWrite(iman, LOW);\n        }\nbreak;\n    }\n  }\n}<\/pre>\n<\/div>\n<div><\/div>\n<h2>C\u00f3digo y dise\u00f1o de aplicaci\u00f3n (MitApp Inventor):<\/h2>\n<div class=\"MsoNormal\">Por otra parte, hay que decir que con la aplicaci\u00f3n \u00fanicamente mandamos a trav\u00e9s de bluetooth los n\u00fameros 0, 1, 2, 3, 4, 5, 6, 7 y 8 que corresponden a las se\u00f1ales de \u201cPosici\u00f3n de inicio\u201d, \u201cRotaci\u00f3n hacia la izquierda\u201d, \u201cRotaci\u00f3n hacia la derecha\u201d, \u201cAcerca\u201d, \u201cAlejar\u201d, \u201cArriba\u201d, \u201cAbajo\u201d, \u201cActivar electroim\u00e1n\u201d y \u201cDesactivar electroim\u00e1n\u201d. La aplicaci\u00f3n consta de 9 botones: dos botones para activar o desactivar el electroim\u00e1n, uno para restaurar el brazo a una posici\u00f3n inicial, uno para acercar, uno para alejar y dos para activar o desactivar el aceler\u00f3metro, donde se realizan las acciones de rotaci\u00f3n y las de arriba y abajo. Los dos botones restantes se utilizan para conectar el smartphone al dispositivo bluetooth y para salir de la aplicaci\u00f3n.<\/div>\n<p><a href=\"http:\/\/1.bp.blogspot.com\/-354uz-6g6zs\/XL9vuOCvmNI\/AAAAAAAAAFo\/kpCib4uyXZQM0pwdl4FWk0-sZn85el9LwCK4BGAYYCw\/s1600\/5.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/5-2-1024x602.jpg\" width=\"320\" height=\"188\" border=\"0\" \/><\/a><br \/>\n<a href=\"http:\/\/4.bp.blogspot.com\/-A4fBI_SPxQ0\/XL9vuIEa75I\/AAAAAAAAAFw\/Oza2qybh4wIw4uIU1r04Dm7yz6CAudkJwCK4BGAYYCw\/s1600\/6.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/6-1.jpg\" width=\"320\" height=\"180\" border=\"0\" \/><\/a><a href=\"http:\/\/1.bp.blogspot.com\/-QkdTXkx_4t8\/XL9vuBiTCiI\/AAAAAAAAAF0\/J31a64Hu15QNmgQZu-moF5SeiObBpl09wCK4BGAYYCw\/s1600\/4.png\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/blogs.etsii.urjc.es\/wp-content\/uploads\/sites\/8\/2019\/04\/4.png\" width=\"201\" height=\"320\" border=\"0\" \/><\/a><\/p>\n<h2 class=\"MsoNormal\">5. Problemas y posibles mejoras<\/h2>\n<p class=\"MsoNormal\"><b><\/b>Uno de los mayores problemas que tuvimos al realizar este proyecto fue debido a que al conectar el dispositivo bluetooth (HC-05) a la placa Arduino y mandarle se\u00f1ales con la aplicaci\u00f3n del smartphone realizaba los movimientos que nosotros quer\u00edamos, pero de forma extra\u00f1a y con rebotes.<\/p>\n<p class=\"MsoNormal\">Finalmente pudimos solucionarlo estos movimientos extra\u00f1os y rebotes conectando los conectores TXD y RXD del dispositivo bluetooth (HC-05) a los pines 0 y 1 de la placa Arduino respectivamente ya que no serv\u00eda en cualquier otro pin de entrada anal\u00f3gica.<\/p>\n<div class=\"MsoNormal\">Otro de los problemas m\u00e1s que tuvimos al realizar este proyecto fue la realizaci\u00f3n del c\u00f3digo ya que nos era complicado conocer los \u00e1ngulos exactos en los que los servomotores se \u201ccontrarrestaban\u201d y pod\u00edan romperse. Al final tuvimos que delimitar los \u00e1ngulos de estos para evitar un desastre.<\/div>\n<div><\/div>\n<div class=\"MsoNormal\">Para finalizar quer\u00edamos proponer posibles mejoras que pod\u00edan aplicarse a nuestro proyecto<\/div>\n<ul>\n<li class=\"MsoNormal\">Mejora en la potencia de los servomotores para poder atrapar objetos de mayor peso.<\/li>\n<li class=\"MsoNormal\">Mejora en el c\u00f3digo para una menor limitaci\u00f3n de los \u00e1ngulos del brazo.<\/li>\n<li class=\"MsoNormal\">Mejoras en la aplicaci\u00f3n para realizar m\u00e1s movimientos con el aceler\u00f3metro y no tener que presionar botones.<\/li>\n<\/ul>\n<div class=\"MsoNormal\"><\/div>\n","protected":false},"excerpt":{"rendered":"<p>1. Introducci\u00f3n Brazo rob\u00f3tico con im\u00e1n para poder mover peque\u00f1os objetos de metal. El brazo es controlado mediante una aplicaci\u00f3n para smartphone. 2. Materiales y presupuesto Materiales: Kit brazo madera cortado a laser y&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":833,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-35","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-proyectos"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Brazo rob\u00f3tico con iman - Proyectos con Arduino.<\/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:\/\/blogs.etsii.urjc.es\/dseytr\/brazo-robotico-con-iman\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Brazo rob\u00f3tico con iman - Proyectos con Arduino.\" \/>\n<meta property=\"og:description\" content=\"1. 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