scholarly journals Design and implementation of Arduino based robotic arm

2022 ◽  
Vol 12 (2) ◽  
pp. 1411
Author(s):  
Hussein Mohammed Ali ◽  
Yasir Hashim ◽  
Ghadah Alaadden Al-Sakkal
Keyword(s):  
Mobile Application ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
3D Printer ◽  
Model Design ◽  
Servo Motor ◽  
End Effector ◽  
Design And Implementation ◽  
Solid Works ◽  
Six Degree Of Freedom

<p><span>This study presents the model, design, and construction of the Arduino based robotic arm, which functions across a distance as it is controlled through a mobile application. A six degree of freedom robotic arm has been designed and implemented for the purpose of this research. The design controlled by the Arduino platform receives orders from the user’s mobile application through wireless controlling signals, that is Bluetooth. The arm is made up of five rotary joints and an end effector, where rotary motion is provided by the servomotor. Each link has been first designed using solid works and then printed by 3D printer. The assembly of the parts of the robot and the motor’s mechanical shapes produce the final prototype of the arm. The Arduino has been programmed to provide rotation to each corresponding servo motor to the sliders in the designed mobile application for usage from distance.</span></p>

Design, Modelling and Simulation of a Rotational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Angular Velocity ◽  
3D Model ◽  
Modelling And Simulation ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Position Vector ◽  
Control Law ◽  
Model Design ◽  
End Effector ◽  
Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

scholarly journals Design and Fabrication of 3-DOF Robot Arm Using Parallelogram Mechanisms

2021 ◽  
Vol 9 (9) ◽  
pp. 1224-1229
Keyword(s):  
Robotic Arm ◽  
Robot Motion ◽  
3D Printer ◽  
File Format ◽  
Robot Arm ◽  
End Effector ◽  
Stl File ◽  
Stepper Motors ◽  
And Control

This paper focuses on the design, fabrication and control of a 3-DOF robot arm using stepper motors. The robot arm uses three parallelogram mechanisms to position the end-effector of the robot and keep the end-effector always parallel to the horizontal during the robot motion. The robot is designed on the Autodesk Inventor software. Separated parts of the robot are saved in the stereolithography (STL) file format. Then the parts are fabricated by a 3D printer. The movement of the robotic arm is driven by stepper motors and controlled by Arduino. The Arduino board implements kinematics calculation, creates pulses and sends them to three drivers to driven stepper motors. A software is developed to control the robot by sending the command to the Arduino board.

scholarly journals Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

2021 ◽  
Vol 10 (1) ◽  
pp. 19-24
Author(s):  
Jan Nitsche ◽  
Matthias Franke ◽  
Nils Haverkamp ◽  
Daniel Heißelmann
Keyword(s):  
Pose Estimation ◽  
Coordinate Measuring Machine ◽  
Degree Of Freedom ◽  
End Effector ◽  
Data Rates ◽  
Measurement Principle ◽  
Measuring Machine ◽  
Position And Orientation ◽  
Six Degree Of Freedom ◽  
Adequate Measurement

Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200 Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20 µm are observed. During standstill, the deviations are reduced to 5 µm.

Structural Parameters Which Reduce the Number of Manipulator Configurations

1992 ◽  
Author(s):  
Constantinos Mavroidis ◽  
Bernard Roth
Keyword(s):  
General Class ◽  
Inverse Kinematics ◽  
Structural Parameters ◽  
Degree Of Freedom ◽  
Characteristic Polynomials ◽  
End Effector ◽  
Lower Maximum ◽  
Position And Orientation ◽  
Six Degree Of Freedom

Abstract The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution In the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

scholarly journals A Six Degree of Freedom Epicyclic-Parallel Manipulator

2012 ◽  
Vol 4 (4) ◽  
Author(s):  
Chao Chen ◽  
Thibault Gayral ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Guillaume Moroz ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Kinematics Analysis ◽  
End Effector ◽  
Six Dof ◽  
Six Degree Of Freedom

A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind.

Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 689-695 ◽  
Author(s):  
Abdul Rauf ◽  
Sung-Gaun Kim ◽  
Jeha Ryu
Keyword(s):  
Parallel Manipulators ◽  
Error Reduction ◽  
Initial Guess ◽  
Significant Error ◽  
Degree Of Freedom ◽  
Kinematic Parameters ◽  
Measurement Device ◽  
End Effector ◽  
Six Degree Of Freedom ◽  
Noisy Measurements

A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.

Teaching Manipulator Kinematics by Painting With Light

2011 ◽  
Author(s):  
Michael Shomin ◽  
Jonathan Fiene
Keyword(s):  
Inverse Kinematics ◽  
Three Dimensional ◽  
Robotic Manipulators ◽  
Video Camera ◽  
Robotic Arm ◽  
End Effector ◽  
Teaching Platform ◽  
Manipulator Arm ◽  
Servo Controller ◽  
Six Degree Of Freedom

In this paper, we examine the creation and benefits of a new teaching platform to introduce and reinforce the key concepts of robotic manipulators in an introductory-level robotics course. This system combines a vintage PUMA 260 six-degree-of-freedom robotic arm with modern control circuitry and a Matlab API. The API operates as a servo controller for the robot, thereby allowing students to apply their knowledge of inverse kinematics to a real manipulator arm. To further motivate the exploration of manipulators, we have developed an open-ended project where students engage in the art of three-dimensional light painting. To facilitate this activity, a tricolor LED has been affixed to the end-effector of the robot. With a digital SLR camera, we take a long-exposure photograph as the robot is driven through a trajectory, effectively painting a picture with the end effector. We have also developed a method to quickly assemble pseudo-long-exposure photographs and videos using an inexpensive video camera. We believe this novel setup and project are an effective way to engage and motivate students to learn the underlying math and dynamics of robotic manipulators.

Accurate Motion of a Robot End-Effector Using the Curvature Theory of Ruled Surfaces

1988 ◽  
Vol 110 (4) ◽  
pp. 383-388 ◽  
Author(s):  
B. S. Ryuh ◽  
G. R. Pennock
Keyword(s):  
Trajectory Planning ◽  
Interpolation Method ◽  
Ruled Surface ◽  
Degree Of Freedom ◽  
End Effector ◽  
Straight Path ◽  
Curvature Theory ◽  
Position And Orientation ◽  
Six Degree Of Freedom ◽  
Differential Properties

In robotics, there are two methods of trajectory planning: the joint interpolation method which is appropriate for fast transition of the robot end-effector; and the cartesian interpolation method which is appropriate for slower motion of the end-effector along straight path segments. Neither method, however, is sufficient to allow a smooth, differentiable, transition of position and orientation of the end-effector. In this paper, we propose a method of trajectory planning that will permit more accurate motion of a robot end-effector. The method is based on the curvature theory of a ruled surface generated by a line fixed in the end-effector, referred to as the tool line. The orientation of the end-effector about the tool line is included in the analysis to completely describe the six degree-of-freedom motion of the end-effector. The linear and angular properties of motion of the end-effector, determined from the differential properties of the ruled surface, are utilized in the trajectory planning.

Sign in / Sign up

Export Citation Format

Share Document