Desenvolvimento de Um Robô Cartesiano Pick-and- Place Com 4 Graus de Liberdade

Abstract

This article presents the development of a 4-degree-of-freedom Cartesian pick-and-place robot, designed to perform object movement and positioning tasks in controlled environments. The project is divided into three phases: mechanical, electrical, and software. In the mechanical phase, the robot is physically assembled with claw modeling and printing. The electrical phase involves designing a circuit board and building power and control circuits for the manipulator, along with selecting stepper motors, servo motors, power supply and voltage regulators. In the final phase, is developed the device firmware, that is capable of receiving commands from a smartphone GUI, enabling motion in three Cartesian axes, rotation, and claw closing. The main results demonstrate the feasibility of constructing an accessible, functional robotic manipulator capable of pick-and-place actions.