Simulación Virtual de una Celda Colaborativa Multibrazo para el Ensamblaje y Empaquetado de Drones, Virtual Simulation of a Multi-Arm Collaborative Cell for Drone Assembly and Packaging

Abstract

The manual assembly of quadcopter unmanned aerial vehicles (UAVs) presents significant challenges related to scalability, variability in cycle times, and uncertainty in assessing automation investments. These limitations highlight the need for virtual validation methodologies capable of evaluating manufacturing systems prior to physical implementation. This research proposes the design, modeling, and integration of a collaborative multi-arm robotic cell for the assembly and palletizing of quadcopter drones within a fully virtual environment. The proposed system consists of four six-degree-of-freedom (6-DOF) serial robotic manipulators: Alpha and Beta, equipped with gripper end-effectors, and Omega, equipped with a vacuum suction end-effector. The robotic cell is complemented by an omnidirectional mobile platform based on Mecanum wheels, providing three additional degrees of freedom for material handling and logistics operations. Kinematic simulation and task sequencing were developed in Unity 2021.3 LTS under an educational license, while the control logic was implemented in CODESYS 3.5 SP9 according to the IEC 61131-3 standard. The pneumatic subsystem was modeled using Festo FluidSIM 4.2p, and the mechanical components were designed in Autodesk Fusion 360 and Autodesk Inventor. The virtual production process comprises twelve sequential stages involving positioning, modular assembly, inspection, handling, and palletizing operations executed in coordinated alternation among the robotic resources. System validation focuses on operational consistency through trajectory analysis, manipulator synchronization, collision-free task execution, and sequence verification. The virtual environment enables the identification of integration issues during the design phase and supports a preliminary economic feasibility assessment through return-on-investment (ROI) analysis. The study demonstrates the potential of digital simulation as a cost-effective approach for validating collaborative robotic manufacturing systems intended for UAV assembly, without requiring physical implementation.