*4.2.2 Power module*

*Industrial Robotics - New Paradigms*

will be presented below.

indicators among others.

*4.2.1 Control module*

manufactured.

based PCI.

the detail of the problems that must be overcome. Therefore, each of the modules

The original cabinet was completely revised. The diagnosis of electronics is that the circuitry is in proper operation. However, its architecture is complex. There is a mixture of digital and analog elements. Some of those elements or components are obsolete or are outgoing. Even some of them are expensive. It is no longer being

Therefore, the entire control cabinet was designed and constructed mainly with

The final control cabinet (**Figure 3**) was designed and built by apprentices and instructors who are part of the power seedbeds. Servo drivers are products offered

The main components used in the control panel are: Driver DYN4-H01A2-00, Driver DYN2-TLA6S-00, and Computational Hardware 5I25 Superport FPGA

The ignition cycle is as follows: when the main breaker is switched on, the system does not start; everything starts when the main contactor is activated, and the coil is activated from the system computer, before this, in order to start the computer. The control board has a power button on the door, this button is responsible for short-circuiting two pins of the PC board (PWR) to generate the ignition

the objective of protecting, controlling, and indicating the status of the servodrivers and the PC that are in charge of the control of the arm, for these different control devices were used, maneuver and protection such as selectors, breaker, electrical noise filters, thermal and overcurrent protection relays, sources, and light

by DMM. These products were successfully tested in previous projects.

**34**

**Figure 3.** *Control board.*

Within the exploration and research work that was to be carried out, a technological surveillance activity was carried out looking for technologies similar to the original actuators of the arm in commercial, technical, and academic websites on the Internet with the students of electric seedbed that focused on the definition of power system and the determination of the suitable motors, in such a way that the arm meets or improves the original response level, in this particular case, six servomotors had to be selected, three of them, more robust (1 kW) to take care of the movement of the joints responsible for positioning, and three other smaller ones (0.12 kW) responsible for handling the grabber.

The servomotors were chosen to take into account the characteristics of the original engines, the main power, size, and electrical characteristics were reviewed to find a suitable replacement, as for the brand the DMM brand was selected for its reliability demonstrated in previous projects developed for the industry by the GACIPE research group. The servomotors used are Servomotor 410-DST-A6TKB and Servomotor 11A-DST-A6HKB. The servo drives used for the control of the servomotors are DYN4-H01A2-00 and DYN2-TLA6S-00. These drivers have within their basic applications, being implemented in machine tools, with RS232/Modbus RS485/CAN communication.

### *4.2.3 Robot programming*

During the review of the robot, it could be evidenced that the software is obsolete and not functional with the current operating systems in force. As for the electronic infrastructure, both the man-machine interface and the control system are eliminated because their components have already left the commercial market.

To select the control software, a state of the art is done in academic pages and databases on the internet with the support of the students. Among the results, it was found that some of the existing programs in the medium are made by other people who, not finding a good option for this application, choose to design and build their own software as mentioned in [13–17], where there is an open architecture but with a lot of work to develop, in this search is the aforementioned LinuxCNC, a software based on the Linux operating system Ubuntu V10.04 (**Figure 6A**), which implements an open architecture for numerical control of CNC machines based on the RT-Linux kernel for real-time instruction execution. Some work done with the software shows good results as in [18]; therefore, the decision is made to select the free LinuxCNC software.

The servomotors are controlled by signals from an FPGA 5i25 card, a low-cost and general-purpose device for PCI, commonly used in this type of applications, which allows us to use pins and parallel port connectors to handle high compatibility with the most actuator motion systems becoming a reliable parallel porttype interface, works perfectly at 5 or 3.3 V, has 34 I/O bits with their respective pull up resistors, this card is installed on a motherboard GA -H110M integrated in the control cabinet, said board controls, through a hardware interface, the movement of the robot, using the free LinuxCNC software, for its robustness, additionally so that the apprentices know about it and include it in their project due to its advantages as a very versatile, reliable, and efficient software to handle CNC machine tools.

For the positioning of the robot, inductive proximity sensors (PNP LJ18A3-5- Z-HQ ) have been located at the start and endpoints of each joint, information that is supplied to the LinuxCNC software.

Although this system has two sensors per joint, the arm is controlled by an open-loop control system supported by LinuxCNC software. The software initially requires the "home" sensors at initial start-up and by previously configuring the actuator step, step pulse, and motor speed. This software interprets the current position at all times according to the initial configuration. To have a correct and calibrated displacement, several trial and error tests performed by the trainees were required to move the arm as accurately as possible about the software and the instructions sent.

### *4.2.4 Robot structure and mechanisms*

The robot presents a series of mechanical faults. The base of the structure does not have the servomotor or the couplings with its respective axis. Servo motors for grabber positioning do not have motion transmission belts. The limit switches for the different joints are not functional.

### **4.3 Intervention stage**

For the development of the robotic arm repowering process, it was possible to develop a plan followed by an order of steps necessary for the execution of this process. Therefore, the following aspects were carried out.

### *4.3.1 Collection of bibliographic tools*

Initially, the search was made for textual support material that includes documentation of the original robot model. Thus, there is clarity in the behavior and functions of the robotic arm.

Taking into account the information collected and the current state of the robot, it has been possible to have more clarity in the planning of the arm repowering process to achieve the objective of recovering the initial characteristics and conditions.

In addition, in this phase, there was an intense work of the apprentices of the electricity hotbed for obtaining the required information by configuring a brief state of art about publications of other works in the last 2 years, whose central theme is pedagogical robotics or educational robotics through the metasearch engine Scopus. This is how [19] refers to robotics in education as the appropriate option to increase the efficiency of the formation of research competencies in school studies; in [20], it goes further as robotics learning is considered as the pretext to involve multiple disciplines from the humanities, social sciences to mathematics and engineering that encourages creativity, while in [21], it not only states that the subject of robotics is attractive to students but also poses an evaluative methodology training for teachers taking into account the great complexity of the multidisciplinary theme of robotics is addressed by a cybernetic model of pedagogical feedback, collaborative learning, and empathy; and in [22], a model of robotics in education applied in classrooms of the local education system is presented, where we want to cover the needs of the current society and strengthen students' knowledge. Additionally, we have found a series of articles dedicated to the study of multiple works on educational robotics, pedagogical robotics, social robots, and the technologies used, reviewing different databases and metasearch engines such as web of science, Scopus, Science direct, IEEE, among others spanning periods ranging from the last 5 years to the last

**37**

**Figure 4.**

*Practical presentation: (A) student and (B) administrative.*

*Training by Projects in an Industrial Robotic Application DOI: http://dx.doi.org/10.5772/intechopen.90667*

repowering process (**Figures 4** and **5**).

ments in each of its axes.

structure.

were found as:

quality.

decade, this type of publications allows to have more condensed information on the contributions developed and show trends in the research processes [23–25], not only

In this phase of the project certain findings and expressions of the seedlings

Understanding the search formula is essential to access quality information. The Scopus metasearch engine converges the databases of the scientific world. The selection of information is vital for the creation of a state of art of great

The consolidation of state of the art depends on the number of items covered.

These types of situations and possible conclusions determine the degree of commitment of the apprentices in their eagerness to apply the state of the art technique

In the initial maintenance of the robotic arm, it develops the design and modeling of each of its parts to later model each of the missing mechanical parts for the

In this activity, the research seedbeds of the areas of electricity and manufacturing systems were the main support by disassembling the arm and identifying missing parts following the protocol found in the user manual of the robotic system. During this phase, it was then possible to correctly develop each of the missing or next pieces to be modified by the dimensions of the new engines, thus maintaining the full functionality of the robotic arm and without compromising the move-

As can be seen in **Figures 6** and **7**, the detailed design and modeling was required for each of the couplings present in the arm joints (axes), in which it is necessary to change each of the engines due to the obsolescence of its drivers, thus maintaining a control of each joint and identification in the process of advancement and mechanical development. In this aspect, the apprentices belonging to the seedlings carried out academic design and modeling exercises for each of the pieces that allowed them to strengthen their competences, an activity that was developed in parallel with the design work developed by teachers with the robot

Review and survey articles are a fundamental pillar of art states.

and access the best possible knowledge provided by the scientific world.

*4.3.2 Design and manufacturing process of couplings and mechanical parts*

focus In the student's response they also discuss the teacher's role.

### *Training by Projects in an Industrial Robotic Application DOI: http://dx.doi.org/10.5772/intechopen.90667*

*Industrial Robotics - New Paradigms*

instructions sent.

**4.3 Intervention stage**

is supplied to the LinuxCNC software.

*4.2.4 Robot structure and mechanisms*

the different joints are not functional.

*4.3.1 Collection of bibliographic tools*

functions of the robotic arm.

conditions.

process. Therefore, the following aspects were carried out.

For the positioning of the robot, inductive proximity sensors (PNP LJ18A3-5- Z-HQ ) have been located at the start and endpoints of each joint, information that

Although this system has two sensors per joint, the arm is controlled by an open-loop control system supported by LinuxCNC software. The software initially requires the "home" sensors at initial start-up and by previously configuring the actuator step, step pulse, and motor speed. This software interprets the current position at all times according to the initial configuration. To have a correct and calibrated displacement, several trial and error tests performed by the trainees were required to move the arm as accurately as possible about the software and the

The robot presents a series of mechanical faults. The base of the structure does not have the servomotor or the couplings with its respective axis. Servo motors for grabber positioning do not have motion transmission belts. The limit switches for

For the development of the robotic arm repowering process, it was possible to develop a plan followed by an order of steps necessary for the execution of this

Initially, the search was made for textual support material that includes documentation of the original robot model. Thus, there is clarity in the behavior and

Taking into account the information collected and the current state of the robot, it has been possible to have more clarity in the planning of the arm repowering process to achieve the objective of recovering the initial characteristics and

In addition, in this phase, there was an intense work of the apprentices of the electricity hotbed for obtaining the required information by configuring a brief state of art about publications of other works in the last 2 years, whose central theme is pedagogical robotics or educational robotics through the metasearch engine Scopus. This is how [19] refers to robotics in education as the appropriate option to increase the efficiency of the formation of research competencies in school studies; in [20], it goes further as robotics learning is considered as the pretext to involve multiple disciplines from the humanities, social sciences to mathematics and engineering that encourages creativity, while in [21], it not only states that the subject of robotics is attractive to students but also poses an evaluative methodology training for teachers taking into account the great complexity of the multidisciplinary theme of robotics is addressed by a cybernetic model of pedagogical feedback, collaborative learning, and empathy; and in [22], a model of robotics in education applied in classrooms of the local education system is presented, where we want to cover the needs of the current society and strengthen students' knowledge. Additionally, we have found a series of articles dedicated to the study of multiple works on educational robotics, pedagogical robotics, social robots, and the technologies used, reviewing different databases and metasearch engines such as web of science, Scopus, Science direct, IEEE, among others spanning periods ranging from the last 5 years to the last

**36**

decade, this type of publications allows to have more condensed information on the contributions developed and show trends in the research processes [23–25], not only focus In the student's response they also discuss the teacher's role.

In this phase of the project certain findings and expressions of the seedlings were found as:

Understanding the search formula is essential to access quality information.

The Scopus metasearch engine converges the databases of the scientific world.

The selection of information is vital for the creation of a state of art of great quality.

The consolidation of state of the art depends on the number of items covered. Review and survey articles are a fundamental pillar of art states.

These types of situations and possible conclusions determine the degree of commitment of the apprentices in their eagerness to apply the state of the art technique and access the best possible knowledge provided by the scientific world.
