<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1683-0789</journal-id>
<journal-title><![CDATA[Acta Nova]]></journal-title>
<abbrev-journal-title><![CDATA[RevActaNova.]]></abbrev-journal-title>
<issn>1683-0789</issn>
<publisher>
<publisher-name><![CDATA[Universidad Católica Boliviana]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1683-07892022000100318</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Modelamiento y simulación de un robot SCARA de tres grados de libertad empleando SolidWorks y Matlab/Simulink®]]></article-title>
<article-title xml:lang="en"><![CDATA[Modeling and simulation of a SCARA robot with three degrees of freedom using SolidWorks and Matlab/Simulink®]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Arroyo Flores]]></surname>
<given-names><![CDATA[Caleb Richard]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Triveño Vargas]]></surname>
<given-names><![CDATA[Francisco Javier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Técnica de Oruro Ingeniería Electromecánica ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Católica Boliviana &#8220;San Pablo&#8221; Automatización y Control ]]></institution>
<addr-line><![CDATA[Cochabamba ]]></addr-line>
<country>Bolivia</country>
</aff>
<pub-date pub-type="pub">
<day>33</day>
<month>03</month>
<year>2022</year>
</pub-date>
<pub-date pub-type="epub">
<day>33</day>
<month>03</month>
<year>2022</year>
</pub-date>
<volume>10</volume>
<numero>3</numero>
<fpage>318</fpage>
<lpage>344</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.bo/scielo.php?script=sci_arttext&amp;pid=S1683-07892022000100318&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.bo/scielo.php?script=sci_abstract&amp;pid=S1683-07892022000100318&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.bo/scielo.php?script=sci_pdf&amp;pid=S1683-07892022000100318&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Este trabajo presenta el modelado y simulación de un robot SCARA de 3 grados de libertad, establece los aspectos comparativos entre el método Euler-Lagrange y el uso de Solidworks para el seguimiento de trayectorias. Son presentados el modelo cinemático y dinámico del robot SCARA considerando la estructura modelada en SolidWorks, en este último se incluye la estructura mecánica, selección de material y su respectivo análisis estructural. Una vez finalizado el modelo CAD del robot SCARA, se procedió a la exportación del modelo al entorno de Matlab/Simulink® mediante el complemento de Simscape Multibody. Paralelamente, se presenta un modelo matricial basado en el método de Euler-Lagrange, adicionalmente el complemento de Simscape Multibody permitió realizar el dimensionado de los actuadores. Con los modelos basados en matrices y CAD son realizadas simulaciones y se establecen comparaciones entre ambos modelos considerando la trayectoria planeada. Se establecen ventajas y desventajas sobre el uso de ambos modelos.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[This paper presents the modeling and simulation of a SCARA robot with 3 degrees of freedom, establishes the comparative aspects between the Euler- Lagrange method and the use of Solidworks for trajectory tracking. The kinematic and dynamic model of the SCARA robot is presented considering the structure modeled in SolidWorks, in the latter the mechanical structure, material selection and its respective structural analysis are included. Once the CAD model of the SCARA robot was finished, the model was exported to the Matlab/Simulink® environment using the Simscape Multibody plugin. In parallel, a matrix model based on the Euler-Lagrange method is presented, additionally the Simscape Multibody plugin allowed the sizing of the necessary actuators for the robot. With the models based on matrixes and CAD, simulations are carried out and comparisons are established between both models considering the planned trajectory. Advantages and disadvantages of the use of both models are established.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Modelo Euler-Lagrange]]></kwd>
<kwd lng="es"><![CDATA[Modelo CAD]]></kwd>
<kwd lng="es"><![CDATA[SCARA]]></kwd>
<kwd lng="en"><![CDATA[Euler-Lagrange model]]></kwd>
<kwd lng="en"><![CDATA[CAD model]]></kwd>
<kwd lng="en"><![CDATA[SCARA]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<label>1</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Alvarez]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Cruz]]></surname>
<given-names><![CDATA[J]]></given-names>
</name>
</person-group>
<source><![CDATA[Modelo matemático para un robot tipo SCARA de 3-gdl]]></source>
<year>2020</year>
<page-range>1-14</page-range><publisher-name><![CDATA[Universidad De La Salle Bajío A.C]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B2">
<label>2</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Bordallo]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño e implementación de un brazo robot SCARA de tres grados de libertad]]></source>
<year>2016</year>
<publisher-loc><![CDATA[España ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Politécnica de Valencia]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B3">
<label>3</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Dechrit]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Kinematics Modeling and Simulation of SCARA Robot Arm]]></article-title>
<source><![CDATA[International Journal of Modern Research in Engineering and Technology (IJMRET)]]></source>
<year>2018</year>
<page-range>1-6</page-range></nlm-citation>
</ref>
<ref id="B4">
<label>4</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Heras]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño y construcción de un robot SCARA de tres grados de libertad]]></source>
<year>2015</year>
<publisher-loc><![CDATA[Quito ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Internacional del Ecuador]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B5">
<label>5</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Mohan]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Veerabathiran]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Modelado y simulación de un robot redundante de perforación tipo manipulador SCARA utilizando SolidWorks y MATLAB/SimMechanics]]></article-title>
<source><![CDATA[Revista Facultad de Ingeniería]]></source>
<year>2016</year>
<page-range>63-72</page-range><publisher-name><![CDATA[Universidad de Antioquia]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B6">
<label>6</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Olier]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Análisis cinemático de un robot industrial tipo SCARA]]></article-title>
<source><![CDATA[Revista de la Facultad de Ingeniería]]></source>
<year>1999</year>
<page-range>17-27</page-range></nlm-citation>
</ref>
<ref id="B7">
<label>7</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Salman]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Ionescu]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Taha]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink]]></article-title>
<source><![CDATA[Int. J. Modelling, Identification and Control]]></source>
<year>2012</year>
<volume>15</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>28-38</page-range></nlm-citation>
</ref>
<ref id="B8">
<label>8</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Spong]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Hutchinson]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Vidyasagar]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Robot Modeling and Control]]></source>
<year>2020</year>
<publisher-name><![CDATA[John Wiley &amp; Sons, Inc]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B9">
<label>9</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Triveño]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Pozo]]></surname>
<given-names><![CDATA[O.]]></given-names>
</name>
</person-group>
<source><![CDATA[Modelado, Simulación y Control de Sistemas Mecatrónicos, y Aeroespaciales con Matlab-Simulink® y Mathematica&#8482;]]></source>
<year>2014</year>
<publisher-name><![CDATA[Editora Serrano]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B10">
<label>10</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Yousif]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
<name>
<surname><![CDATA[Safwan]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Modeling and Simulation of Industrial SCARA Robot Arm]]></article-title>
<source><![CDATA[International Journal of Engineering and Advanced Technology (IJEAT)]]></source>
<year>2015</year>
<page-range>220-9</page-range></nlm-citation>
</ref>
</ref-list>
</back>
</article>
