Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLI...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2013-01, Vol.51 (1), p.12023-6
Main Authors: Nabeel, Hafiz Muhammad, Azher, Anum, Ali, Syed M Usman, Mughal, Abdul Wahab
Format: Article
Language:English
Subjects:
Aluminum
Aluminum base alloys
Assembling
Automation
Coders
Graphical user interface
Industrial robots
Inverse kinematics
Man-machine interfaces
Manufacturing engineering
Mathematical analysis
Microcontrollers
Optical encoders
Quadratures
Robot arms
Robotics
Spraying
Weight reduction
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Summary:In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/51/1/012023