Design of a two-degrees-of-freedom robotic arm for monitoring applications for teaching robotics and artificial intelligence technology

Abstract

This manuscript proposes a methodology for teaching undergraduate engineering students fundamental concepts of artificial intelligence and robotics applicable in Industry 4.0 using a project-based learning strategy. A low-cost prototype of a two-degrees-of-freedom robotic arm was designed and implemented for monitoring applications, integrating the Internet of Things and artificial intelligence technology. Inverse and direct kinematics are applied in the robotic arm design, enabling the execution of desired trajectories by the robot's end effector. The robot, capable of following user-programmed trajectories, uses two servo motors with a 180° mobility range, integrated into a 3D printed structure made from polylactic materials, whereas the programmable logic was accomplished using an ESP32 microcontroller. Furthermore, the robot is controlled through a MATLAB GUI (Graphical User Interface), designed to obtain detailed process information such as activity status, trajectory type, and quality. The results demonstrate the feasibility of integrating various cutting-edge technologies to teach fundamental concepts of Industry 4.0. The proposed methodology could allow educators to design a robotics course where students are motivated by practical experience implementing impactful technologies beyond the academic realm.