Desarrollo de un posicionador robótico de dos grados de libertad para manufactura aditiva

Abstract

Additive manufacturing faces geometric limitations that force the use of support, reducing process efficiency. This project develops a two-degree-of-freedom robotic positioner to optimize FDM printing through dynamic part reorientation. The central objective is to integrate open hardware architecture with an ABB industrial controller, justifying the need for accessible solutions versus expensive and closed commercial equipment. An iterative mechatronic design methodology was used for development; components were modeled in CAD software and structurally validated through Finite Element Analysis. The physical construction employed additive manufacturing in PLA/PETG, stepper motors, and timing belts, managed by an Arduino microcontroller with TCP/IP communication towards the RobotStudio environment. The results evidenced effective synchronization between the controller and the physical prototype, achieving a positioning precision lower than 0.1° in tilting and a thermal stability of ±2°C. It is concluded that integrating standard protocols with industrial controllers is technically and economically viable, validating a functional system that democratizes access to multi-axis manufacturing technologies in academic environments. Keywords: Additive manufacturing, TCP/IP, Mechatronic design, RobotStudio, Arduino