Mechatronics Design and Kinematic Simulation of

2022 First International Conference on Electrical, Electronics, Information and Communication Technologies (ICEEICT) | 978-1-6654-3647-2/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICEEICT53079.2022.9768599

UTP-ISR01 Robot with 6-DOF Anthropomorphic

Configuration for Flexible Wall Painting
José Cornejo, Senior Member IEEE Juan Palacios Antonio Escobar Yordan Torres
Universidad Tecnológica del Perú Universidad Tecnológica del Perú Universidad Tecnológica del Perú Universidad Tecnológica del Perú
Lima Perú Lima, Perú Lima, Perú Lima, Perú
[email protected] [email protected] [email protected] [email protected]

Abstract— In the year 2020, countries were in a race against During the pandemic, robots have been an important
the spread of Covid-19, leading to major deficiencies in the areas solution. Different applications have shown that robot
of health, economy, and construction. For this reason, the manipulators perform various tasks to support human
robotics industry emerged as a viable and safe option to perform intervention, thus avoiding exposure to viruses and/or
important and critical tasks in different sectors, one of them is bacteria. Robotic manipulators are widely used in the
the real estate. For this reason, a robotic arm was designed to automotive industry for their high precision and for being an
wall painting, this study is supported by the mechatronics important alternative in the replacement of old spraying
engineering department of the Universidad Tecnológica del installations, because high levels of quality and input savings
Perú. The designed robot called: “UTP-ISR01” has 6 axes and a
are achieved [3]. On the other hand, there are robots that
linear displacement of 2.8 m with turns of 0.24 sec/60°. For the
calculation of the forward kinematics the Denavit Hartenberg
perform home furniture assembly tasks, with high precision in
method was used, then the homogeneous transformation the assembly. These robots are programmable to execute other
matrices were used to calculate the rotation and translation similar tasks, obtaining results in shorter execution times [4].
movements of the robotic manipulator. With the equations The design of the position and orientation of the terminal
identified in the inverse kinematics, the positions and element can be expressed by means of a differentiable
orientations of the robot were plotted, as well as the dimensions function in the analysis of the kinematics of the robotic arm
of the working area. The CAD design was carried out with [5]. Fig. 2 shows the indoor spraying robotic manipulator,
engineering software, such as Autodesk Inventor for the which will perform the wall painting of the apartments.
mechanical design and assembly of the parts. In addition, with
RoboDK software, kinematic simulations and analysis were
performed. In conclusion, the robotic arm will reduce the
delivery times of the apartments built by the real estate
companies.
Keywords— robotic arm, condominiums, painter robot, real
state, home automation, mechatronics

I. INTRODUCTION
In recent years, despite the COVID-19 crisis, Peru has
grown significantly in the condominium construction industry
[1]. This type of projects are required by families. Due to
different factors, the delivery times of these apartments are
prolonged. This generates a problem that affects the economy.
With the arrival of the pandemic, real estate sales dropped
significantly in the first quarter of 2020. However, the real
estate market had a recovery since May 2020 according to the Fig. 2. Design of the indoor spraying robot
Association of Real Estate Companies of Peru [1, 2]. The robotic arm has an ideal design to solve the existing
problem of painting walls and ceilings of apartments under
construction making the turnaround times much shorter for
construction companies. This proposed design is unique in its
application, since it performs the painting of the walls and
ceilings of the rooms of each of the rooms in the buildings.
Due to its high performance and quality of service, it is
presented as one of the important alternatives to mitigate long
delivery times to customers. Therefore, it would help the real
state companies to deliver the apartments within the deadlines
agreed with the clients and not be affected by any lawsuit for
breach of contract. Also, it will help creditors save money on
the rents of their current homes while they wait many months
Fig. 1. Evolution of apartment sales 2019-2020 [1]. and years for the delivery of their home.

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 II. MATERIALS AND METHODS
A. Mechatronics Design
First, the spray arm shown is designed based on the robotic
manipulator used in the automotive industry. However, it has
a mobile transfer support, which will be maneuvered by an
operator within the department's facilities. The dimensions of
the prototype are based on industrial robotic manipulators, due
to the structural mechanical design has flexibility in the
transfer maneuvers. The spraying robotic manipulator weighs
approximately 260 kg. It also have of a mobile platform with
a rotation angle of 185°, a swing arm for longer transfers, and
a compensating arm to extend its reach. The wrist performs
rotational movements and the gripper has two degrees of
freedom for rotation and gripping (Fig. 3 and Fig. 4). Fig. 5. Robot arm dimensions.

The joints have a Dynamixel servomotor model H54-200-

S500-R(A), which is installed in the lower part of the robot
that will perform the rotary movements of the manipulator’s
arm. It is 54 mm wide, 126 mm high and 54 mm deep. It
supports axial loads of 130 N and radial loads
of 370 N. The nominal operating speed is 29.0 rev/min,
maintaining a continuous torque of 44.7 N.m. In Fig. 6, the
dynamic element to achieve 300° of freedom turns.

Fig. 3. Indoor spraying robot

The robot has 6-DOF a maximum payload capacity of 19.2

kg and a nominal payload of 16 kg in operation. The angular
displacement ranges of the A1 axis is +/- 185°, A2 -185°/65°,
A3 -138°/175°, A4 +/- 350°, A5 +/- 130°, A6 +/- 350°. The
speeds with nominal load for each axis are: A1 200°/s, A2
175°/s, A3 190 °/s, A4 430°/s, A5 430°/s, A6 630°/s. The Fig. 6. Side view of the robotic manipulator
operating conditions depending on the selected steel material
should be between -5°C to 55°C . The dimensions of the gripper will be measured for the
correct grip of the hose. It has a diameter of 0.10 m with a
rotation angle of 360°; the height of the mechanism is 0.5m.
The fixed element that supports the hooks has a height of
0.25m. The maximum distance of the hooks at rest is 0.40m.
The gripper will be in charge of manipulating the robot's paint
sprayer [11].

Fig. 4. Servomotors for rotation and translation

The spraying robot performs wall painting through

rotational and translational movements during operation; its
degree of freedom is designed by six axes of motion. The
robotic manipulator has a maximum reach of 2.013 m with a
surface area of 0.430 m x 0.370 m (Fig. 5). Fig. 7. Gripper dimensions.

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 0
0
III. KINEMATIC ANALYSIS AND SIMULATION
0 1 0 0
(3)
0 0 0 1
A. Forward Kinematics

0 0
Based on the Denavit-Hartenberg (D-H) Parameters, the
0 0
reference coordinates of the joints with the links are
0 1 0 4
determined. The dimensions of the robot are shown in (4)
Fig. 8. Also, the orientations and directions of rotation 0 0 0 1
0 0
performed by the joints are indicated.
0 0
0 1 0 0
(5)
0 0 0 1
0 0
0 0
0 0 1 6
(6)
0 0 0 1
The final transformation of the system is obtained based
on the product of the matrices. Using Matlab software,
equations (8), (9), (10) are obtained. Replacing the dimensions
of the robot in equation (1), (2), (3), (4), (5), (6), the
displacements and rotational movements are obtained [26-35].
. . . . . (7)

1.0000 0 0 905.0000
Fig. 8. Coordinates of the Robotic Arm We replace:

0 1.0000 0 0
The calculation is performed according to the D-H
0 0 1.0000 454.9177
representation, it is represented by the product of 4 basic (8)
0 0 0 1
transformations, each coordinate system is determined and
established on the basis of three rules: 1) Zi-₁ axis lies along
the joint axis. 2) X-axis is normal to the Zi-₁ axis and points
away from it. 3) Y-axis completes dextrorotation coordinate
system. B. Inverse Kinematics
The positions of donthe wrist point q1, q2 and q3 and the
TABLE I. DENAVIT-HARTENBERG PARAMETERS orientation of the Z-axis of the last coordinate system q4, q5
and q6 previously these calculations must be known in what
Joints θ d a α position and orientation if you want to arrive with the
1 q1*+90 L1 a1 90° calculation that are performed in forward kinematics and the
transformation matrix of the first three joints in equation (9)
2 q2* 0 a2 0

"! #!
[36-44].
! !
"$ #$
3 q3*+90 0 a3 90°

. . $ $
"% #%
4 q4* L5 0 -90°

% %
(9)
0 0 0 1
5 q5* 0 0 90°

& & & & ' ' '

6 q6* L6 0 0

' & & ' ' ' &

& ' ' ' 0
Regarding of the D-H parameters shown in Table I, the …..
0 0
meaning of each homogeneous transformations: θi is the angle

& & ' (& ' '

formed by the Xi-₁ and Xi axes, di the distance along the Zi-₁

' & & (' ' &

axis, ai is the distance along the Xi axis, αi is the separation

' ' & &

angle of the Zi-₁ axis [9-25].
.... ……
0
Where:
0
0 & ( & & ( & ' ' ( & & &
0 1 0 1 ' ( ' & ' ' ' ( ' & &
*10+
(1)
0 0 0 1 ) ( ' ( & ' ( ' &
0 1
0
0 0 1 0
& -'
(2)
0 0 0 1
Where:
, , , (11)

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 The angle θi is determined from the matrix The robotic manipulator has movements represented in the
T03=A01.A12.A23 where sinθi= bx, then the sine of joint of X and Y planes, the trajectories performed by each joint and
elements (1,2) “bx”. the working dimensions are shown in Fig. 10. The measures
,
.
*"! +
of the extended articulated arm cover a distance of 2.75m
(12) covering the working space for which it was designed.
For the second and third joint elements (3,1) “nz” and (3,4)
“pz” and the following equation are obtained by algebraic

*
. /0 12 .30 4 56
+
manipulations.
.17
(13)
.
* + (14)

"! #!
The transformation matrix of joints q3, q4 and q5
! !
"$ #$
. . $ $
% "% % #%
(15)
0 0 0 1

& & & ' ' ' ' & & &
& ' (' & & & & (' & &
Fig. 10. Working space in X and Y plane

' & ' '

…
0 0
The motion of the manipulator arm reaches a rotation
& ' ) & '
radius of 1.530 m. The circular motion has a freedom of -155°
' ' ) ' '
…
to +155°. The circular motion has a range capability of -155°

& ) () &
(16) to +155°. The motions are performed rotation of a radius of

0 1
2.65 m. and a maximum height of 2.7 m [9].

From the element (3,3) “ax” of the matrix, the angle of the
fifth joint is obtained, making use of equation (15) the angles
of rotations θ4,θ5 and θ6 are obtained in equations (16), (17),
(18). The rotational motions are performed based on
trigonometric and geometric relations on the robot.
.
% (17)

* +
. 19
:,/;<
(18)

* +
. /0
:,/;<
(19)

Fig. 11. Working space in Z-plane

IV. RESULTS, CONCLUSION AND FURTHER WORK

In this work we have presented the design of wall painting
robotic manipulator, taking as a reference the dimensions of
the rooms to determine the size and degrees of freedom. It
performs the painting of the walls of apartments in
condominiums for sale, the displacement of the robot is
performed by a mobile element of 6 wheels to ensure stability
and balance in operation.
The kinematics of the robot is developed using the Denavit
Hartenberg method, the rotations and translations are defined
according to the six degrees of freedom. The results of the
matrices of each of the joints are shown in equations 1 to 6.
Fig. 9. Design of the indoor spraying robot Based on these equations, the results obtained are shown in

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 equations 7 and 8. The matrices for the joints are separated ACKNOWLEDGMENT
into two groups first q1, q2 and q3 for group two the joints q3, Thanks to the Robotics Engineering Department in the
q4 and q5 the results are detailed in equations 17 and 18. Professional School of Mechatronics Engineering at
The robot has 6 rotational joints that allows to make the Universidad Tecnológica del Perú, Lima, Peru. Also, thanks
spraying uniform on the walls; since it has an extension of for the supervision to the Department of Physics and
2.78 m which guarantees a reach to the entire area of the wall. Engineering at the Bioastronautics and Space Mechatronics
The end effector manipulates a sprayer for painting achieving Research Group (https://sites.google.com/view/bio-sm). The
a uniform and high-quality finish. The transfer from one room publication of the article was funded through the BIO & SM.
to another is done manually by means of the mobile element.
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