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

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

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 movements in each of its axes.

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 structure.

**Figure 4.** *Practical presentation: (A) student and (B) administrative.*

**Figure 5.** *Robot arm model.*

### **Figure 6.**

*Control system: (A) LinuxCNC platform and (B) FPGA 5i25 card.*

Additionally, it is possible to export each of the pieces to be elaborated to a CAD program and thus start with the process of elaboration of each one of the programs for the machining routes, then the coding of its trajectories and manufacturing in machining machinery by starting of shaving (lathe, milling machine) either conventional or CNC-controlled, and the process of testing the couplings and parts in the workplace begins. In this regard, some simple pieces are developed and evaluated by the apprentices who are part of the workgroup.

In this component of the project, there are certain aspects and responses of the seedbed apprentices who showed at the meetings:

The apprentices of the advanced manufacturing seedbed strengthen knowledge in design and modeling software.

**39**

equipment).

**Figure 7.** *Coupling model.*

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

different standards of the technical drawing.

*4.3.3 Control and power module*

and easy to review for students.

When the exploded drawing of the robot was made, it was brutal to learn the

The handling of machine tools has allowed us to use different metrology proce-

The consolidation of knowledge for the use of machine tools has allowed dimen-

The technical specifications and the operating mode of both the control module

The board is powered by three-phase voltage, and it uses the ground and neutral

This system has a fuse bank (10A-5A-2A), used to protect the board from different sides and independently. For the line that feeds the computer, an additional filter (110–220 V 6EHT1) is installed, which allows for a cleaner signal that does not affect the interaction of the arm with the computer processing. Rail terminals were also mounted (with their brakes) and a distribution terminal block for different connections such as sensors and three-phase lines, making the board more orderly

The system has protective breakers, including a three-phase, which goes directly

to a contactor (three poles 240VAC-001A18NA3) that energizes the board in general. Before each servo-driver, a motor guard was installed (Gv2-me16c 9-14).

signal at all times since it must power the internal lighting and the computer installed inside, both the CPU and the display (Interface). A filter is installed for each line (FN610-10-06), which provides good symmetric and asymmetric attenuation performance with high saturation resistance and excellent thermal behavior, thus having a safer system that can meet the final application need to mount on the arm (avoiding possible complications in the case of electrical noise or arc welding

dures and to know the technical norms of the manufacturing area.

sioning the procedures for machining and finishing the parts.

and the power module are described in this section.

*Industrial Robotics - New Paradigms*

**38**

**Figure 5.** *Robot arm model.*

**Figure 6.**

Additionally, it is possible to export each of the pieces to be elaborated to a CAD program and thus start with the process of elaboration of each one of the programs for the machining routes, then the coding of its trajectories and manufacturing in machining machinery by starting of shaving (lathe, milling machine) either conventional or CNC-controlled, and the process of testing the couplings and parts in the workplace begins. In this regard, some simple pieces are developed and evalu-

In this component of the project, there are certain aspects and responses of the

The apprentices of the advanced manufacturing seedbed strengthen knowledge

ated by the apprentices who are part of the workgroup.

*Control system: (A) LinuxCNC platform and (B) FPGA 5i25 card.*

seedbed apprentices who showed at the meetings:

in design and modeling software.

When the exploded drawing of the robot was made, it was brutal to learn the different standards of the technical drawing.

The handling of machine tools has allowed us to use different metrology procedures and to know the technical norms of the manufacturing area.

The consolidation of knowledge for the use of machine tools has allowed dimensioning the procedures for machining and finishing the parts.

### *4.3.3 Control and power module*

The technical specifications and the operating mode of both the control module and the power module are described in this section.

The board is powered by three-phase voltage, and it uses the ground and neutral signal at all times since it must power the internal lighting and the computer installed inside, both the CPU and the display (Interface). A filter is installed for each line (FN610-10-06), which provides good symmetric and asymmetric attenuation performance with high saturation resistance and excellent thermal behavior, thus having a safer system that can meet the final application need to mount on the arm (avoiding possible complications in the case of electrical noise or arc welding equipment).

This system has a fuse bank (10A-5A-2A), used to protect the board from different sides and independently. For the line that feeds the computer, an additional filter (110–220 V 6EHT1) is installed, which allows for a cleaner signal that does not affect the interaction of the arm with the computer processing. Rail terminals were also mounted (with their brakes) and a distribution terminal block for different connections such as sensors and three-phase lines, making the board more orderly and easy to review for students.

The system has protective breakers, including a three-phase, which goes directly to a contactor (three poles 240VAC-001A18NA3) that energizes the board in general. Before each servo-driver, a motor guard was installed (Gv2-me16c 9-14).

The motor guard prevents unbalance in three-phase lines. The brake of the servomotors is activated by four relays.

It also installed 3 DC sources of 48 V to 7.5 A, a dedicated source for each servodriver that controls the 0.12 kW motors, an additional 24 V DC source (for motor brakes) and a 12 V DC source (for the control).

At this stage, the electricity seedbed apprentices supported the researchers in the interpretation of plans and assembly of their components, which is how the meetings presented some findings and conclusions about the experience.

The assembly of the control cabinet is an activity for the appropriation of the technical standards of electronics and electrical.

The manipulation of the components of the module and the verification of its correct operation were the functions performed during the assembly of the cabinet.

There was care in the functional tests of the control and power module. An improper maneuver can cause the malfunction of any of the components that could lead to permanent failure.

### *4.3.4 Coding development robot arm*

Once the electrical, electronic system, the mechanical system and the successful completion of the motion tests have been reconditioned with each independent degree of freedom, the software for the positioning of the grabber conditioned from the simultaneous movement of all the motors to this procedure known as the development of the kinematics of a six-axis industrial robotic arm [26]. In this regard, students completed training in the fundamentals of physics, geometry, and trigonometry to have the basic knowledge that allows them to understand the calculations and equations that govern the kinematics of an arm.

The position of the robotic arm is known with the mathematical expression of the inverse kinematics and direct kinematics. It should be noted that the robotic arm is a palletizer type. In databases, there is no information on kinematics for palletizers. Therefore, the kinematics of the robot was built and incorporated into the LinuxCNC.

In this regard, the students carried out state-of-the-art work related to kinematics in palletizing and serial robots to have as much information as possible to accelerate the assembly of kinematics in LinuxCNC software.

Through the LinuxCNC program, the use of the arm is allowed, either manually, independently managing each of its axes, or in a programmed way following a route or path already established by code G, thus facilitating the management process for an operator with basic knowledge in CNC coding and the area of machining.

In this process, the desired route is programmed in CAM programs, such as MASTERCAM among graduates or CNC HEEKS on the side of free programs. Initially exporting in a file (Parasolid, ages, and step), which is compatible with CAM machining programs to trace a path on which the robotic arm system should be guided.

Subsequently, the G coding is elaborated and then exported in the NGC format, with slight modifications in the program developed, so that it can be read correctly by the LinuxCNC interface and capable of being executed correctly.

In the same way, it can be programmed manually by initially acquiring the headings of the programs to follow and adding the routes in the coordinate axes of the Cartesian plane (*x*, *y*, *z*).

The factory application of the robotic arm was to weld parts of the automotive sector, currently, it has been repowered and conditioned to load heavy parts in the precision foundry industry.

**41**

**Figure 8.**

*Presentation of the robotic arm project to the academic community.*

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

highlighted at this stage are presented below.

robot arm.

your joints.

**4.4 Results stage**

(see **Figure 4B**).

tions of the coding of the instructions on the CNC machine.

lished for the proper functioning of the robotic arm.

In this phase, the students of the electricity hotbed and the manufacturing hotbed supported the design and implementation activities of the G code in the LinuxCNC to monitor the behavior of the robotic arm in its positioning in the *XYZ* plane. Additionally, the trainees started from their initiative to solve the problems, and the investigating instructors guided the students to improve the activities with the robotic arm. Then, pedagogy influences students. Therefore, the aspects that are

The appropriation of CAM technology in free software (HEEK CNC) and licensed software (MASTERCAM) allows us to understand the scope and limita-

The LinuxCNC application presented an appropriate performance in the

The type of application and the type of actuator in the grabber must be estab-

Tuning the power devices (servo drivers) of the arm prevents the crashing of

Once the robotic arm intervention process has been carried out successfully, it has been defined to socialize the scope achieved in the execution of the project. The intention is to present an exhibition of the work teams (students and teachers) that intervened in the process of repowering by making a technical description of their contribution and finally proceeding to perform a demonstration of the robotic arm performing a welding application. The socialization executed in two moments. The first was applied during the final tests of the robotic arm, during this time six groups of students were taken, each of 20 students from different areas of knowledge to the research workshop to witness the turning of the robot (see **Figure 4A**), in addition, the administrative area of SENA was invited to verify the progress and success of the process of repowering the robotic arm

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

In this phase, the students of the electricity hotbed and the manufacturing hotbed supported the design and implementation activities of the G code in the LinuxCNC to monitor the behavior of the robotic arm in its positioning in the *XYZ* plane. Additionally, the trainees started from their initiative to solve the problems, and the investigating instructors guided the students to improve the activities with the robotic arm. Then, pedagogy influences students. Therefore, the aspects that are highlighted at this stage are presented below.

The appropriation of CAM technology in free software (HEEK CNC) and licensed software (MASTERCAM) allows us to understand the scope and limitations of the coding of the instructions on the CNC machine.

The LinuxCNC application presented an appropriate performance in the robot arm.

The type of application and the type of actuator in the grabber must be established for the proper functioning of the robotic arm.

Tuning the power devices (servo drivers) of the arm prevents the crashing of your joints.

### **4.4 Results stage**

*Industrial Robotics - New Paradigms*

motors is activated by four relays.

lead to permanent failure.

the LinuxCNC.

be guided.

Cartesian plane (*x*, *y*, *z*).

precision foundry industry.

*4.3.4 Coding development robot arm*

brakes) and a 12 V DC source (for the control).

technical standards of electronics and electrical.

The motor guard prevents unbalance in three-phase lines. The brake of the servo-

ings presented some findings and conclusions about the experience.

It also installed 3 DC sources of 48 V to 7.5 A, a dedicated source for each servodriver that controls the 0.12 kW motors, an additional 24 V DC source (for motor

At this stage, the electricity seedbed apprentices supported the researchers in the interpretation of plans and assembly of their components, which is how the meet-

The assembly of the control cabinet is an activity for the appropriation of the

The manipulation of the components of the module and the verification of its correct operation were the functions performed during the assembly of the cabinet. There was care in the functional tests of the control and power module. An improper maneuver can cause the malfunction of any of the components that could

Once the electrical, electronic system, the mechanical system and the successful

The position of the robotic arm is known with the mathematical expression of the inverse kinematics and direct kinematics. It should be noted that the robotic arm is a palletizer type. In databases, there is no information on kinematics for palletizers. Therefore, the kinematics of the robot was built and incorporated into

In this regard, the students carried out state-of-the-art work related to kinematics in palletizing and serial robots to have as much information as possible to

Through the LinuxCNC program, the use of the arm is allowed, either manually, independently managing each of its axes, or in a programmed way following a route or path already established by code G, thus facilitating the management process for an operator with basic knowledge in CNC coding and the area of machining. In this process, the desired route is programmed in CAM programs, such as MASTERCAM among graduates or CNC HEEKS on the side of free programs. Initially exporting in a file (Parasolid, ages, and step), which is compatible with CAM machining programs to trace a path on which the robotic arm system should

Subsequently, the G coding is elaborated and then exported in the NGC format, with slight modifications in the program developed, so that it can be read correctly

In the same way, it can be programmed manually by initially acquiring the headings of the programs to follow and adding the routes in the coordinate axes of the

The factory application of the robotic arm was to weld parts of the automotive sector, currently, it has been repowered and conditioned to load heavy parts in the

completion of the motion tests have been reconditioned with each independent degree of freedom, the software for the positioning of the grabber conditioned from the simultaneous movement of all the motors to this procedure known as the development of the kinematics of a six-axis industrial robotic arm [26]. In this regard, students completed training in the fundamentals of physics, geometry, and trigonometry to have the basic knowledge that allows them to understand the

calculations and equations that govern the kinematics of an arm.

accelerate the assembly of kinematics in LinuxCNC software.

by the LinuxCNC interface and capable of being executed correctly.

**40**

Once the robotic arm intervention process has been carried out successfully, it has been defined to socialize the scope achieved in the execution of the project. The intention is to present an exhibition of the work teams (students and teachers) that intervened in the process of repowering by making a technical description of their contribution and finally proceeding to perform a demonstration of the robotic arm performing a welding application. The socialization executed in two moments. The first was applied during the final tests of the robotic arm, during this time six groups of students were taken, each of 20 students from different areas of knowledge to the research workshop to witness the turning of the robot (see **Figure 4A**), in addition, the administrative area of SENA was invited to verify the progress and success of the process of repowering the robotic arm (see **Figure 4B**).

**Figure 8.** *Presentation of the robotic arm project to the academic community.*

The second moment of socialization corresponds to the completion of the tuning of the robot. The presentation in the society of the robotic system is made. The invited public is the businessmen representing Mold Glass, owner of the robot, and students and teachers from the academic community of SENA-CTMA was also invited by virtual mass media (see **Figure 8**).

During this stage, the different actors (student, administrative and businessmen) agree to qualify the results of the project as satisfactory and of great impact for the industry due to the low costs and the high degree of precision of the robot's movements.

## **5. Discussion**

In [19], there is a collaborative work between the students and the teacher in which the researchers' terms and functions are naturally involved; in the activities proposed in the execution of the project, there are no hierarchies and each one contributes from their perception and creativity, and robotics projects are part of the curricular activities. In [20], it proposes a course by stages for the development of projects with the robotic educational analysis of state of the art, implementation, pedagogical design, learning scenarios, pilot use, validation, and social evaluation, and this procedure is performed with students of schools. The way to maintain interest in the project is through the approach of ideas proposed by students, the development of skills, and socialization of results by different means including social networks, and in [21], a conductive and constructivist activities series used to identify the benefits of the strategy called collaborative learning is executed. This procedure has been developed by university students for 5 years. As the course develops, more and more complex challenges are proposed. It is also projected towards the preparation of teachers in the management of constructivist methodologies in robotics. Therefore, a group of teachers from Public high school is trained to work with robotics projects, to apply this methodology with their high school students, but in [22], a work of systematization of subjects was done with the aim of introducing the contents on robotics from the pre-school stage to the university level. This process was carried out during 6 years that had its starting point in a summer vacation program called "Technosphere." However, despite describing and explaining the way in which these works are carried out (all immersed in the curricula) based on problems that are solved in didactic robotic systems, it is not possible to find information about the impact of these projects on life of the students because it is important to know the lived experience of the members that enriches and feeds back the constituted process, which if they are found are generic results based on surveys and evaluations that can give an indicator on the evolution of the process, but the findings obtained from interviews, logbooks and daily books are tools that have valuable information about the process. In [23–25], more general information about educational robotics works focused on doing documentary research is expressed, which indicates the importance and importance in the field of education and pedagogy since these types of treaties have within from his study trends, perspectives, and even prospects, aspects that allow validating the possibility of doing research at the frontier of knowledge.

This project describes the work done with the research seedbeds (through extracurricular activities). Applying the principles of constructivist social pedagogy using as a strategy, the project method through technological development and applied research such as the repowering an industrial robotics arm of six degrees of freedom, in which its monitoring and verification of progress, has been carried out through technical reports, the observation guide, the field diary, finding not

**43**

**Author details**

and Edgar Mario Rico Mesa\* SENA, Medellin, Colombia

Laura Tobon Ospina, Juan David Arismendy Pulgarin, John Sneyder Tamayo Zapata, Paula Andrea Palacios Correa

\*Address all correspondence to: emrico@sena.edu.co

provided the original work is properly cited.

© 2020 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium,

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

development of the different stages of the project.

increase its competitiveness in international markets.

of art for the development of an applied investigation.

**6. Conclusions**

only the technical and technological advances of the robot but also the findings, conclusions, and experiences of the work teams (teachers and students) during the

The development and tuning of the repowering of the industrial robotic arm allow the consolidation of a research group for the solution of manufacturing machines based on the productivity of the industry, whose technology is vital to

This process is very important from the pedagogical point because independent of the technologies or techniques used in the project, the effectiveness of the student's learning process can be corroborated by being immersed in this type of real projects that allow to appropriate the application of the method scientific, consolidate technological knowledge and know the fundamental tool like the state only the technical and technological advances of the robot but also the findings, conclusions, and experiences of the work teams (teachers and students) during the development of the different stages of the project.
