Abstract
The following article presents the process to obtain the kinematic and dynamic model of a Cartesian robot with 3 degrees of freedom. The robot that is used was designed for educational purposes, it allows two linear movements and one angular. The kinematic model has two forms, direct and inverse, the first provides the final position of the robot if desired values are given to each of the robot's joints, the second provides the values of the joints if there are desired values for the effector final. On the other hand, the obtaining of the dynamic model is presented in detail, which obtains the torques and forces necessary for the robot to be able to move to a specific point. The procedure includes kinematic analysis using Denavit-Hartenberg parameters and dynamic analysis using Jacobeans. As a result, responses obtained from a Simulink model are presented that show the behavior of the developed models.
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