Sistema de Posicionamiento Cartesiano de 3 Ejes con Interfaz de Control por Pipeline Web-Hardware

Resumen—This paper presents the design, construction, and
validation of a three-axis Cartesian positioning robot oriented
toward academic teaching in robotics and automation. The
mechanical structure is built with V-slot aluminum extrusion
profiles driven by NEMA 17 stepper motors, GT2 timing belts
with 20-tooth pulleys, and per-axis roller-type limit switches.
Motion control is handled by an Arduino Uno paired with a
CNC Shield v3 running both a custom serial firmware and
GRBL, with communication at 115 200 baud. A browser-based
graphical interface, developed in HTML5 and JavaScript with the
Web Serial API, provides real-time 3D simulation, machine-vision
object tracking via webcam, Cartesian coordinate telemetry,
and trajectory-figure generation. The resulting system achieves
approximately 90% positioning accuracy across a 1m × 1m ×
1m workspace and constitutes a low-cost, replicable platform
for introducing undergraduate and secondary-school students
to Cartesian robotics, embedded control, and web-hardware
integration