Experimental Results on Circular and Linear Movements of Two-link Robot Arm

Authors(3) :-Thu Zar, Theingi, Su Yin Win

Robots and manipulators are used to serve machine tools in automatic production system. The robot arm was designed with two degrees of freedom and accomplished accurately simple tasks. This paper represents experimental results on circular movement and straight line movement of two-link manipulator in a vertical movement. The lengths of robot arm links was designed from the desired workspace boundary conditions. Pololu 70:1 gear motors are selected for two joint revolutions of the robot manipulator after analysing the dynamics of two links. To control the robot, it performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.

Authors and Affiliations

Thu Zar
Department of Mechanical Engineering, Technological University (Thanlyin), Thanlyin, Yangon, Myanmar
Theingi
Technological University (Thanlyin), Thanlyin, Yangon, Myanmar
Su Yin Win
Departments of Mechanical Engineering, Technological University (Thanlyin), Thanlyin, Yangon, Myanmar

Robots and manipulators are used to serve machine tools in automatic production system. The robot arm was designed with two degrees of freedom and accomplished accurately simple tasks. This paper represents experimental results on circular movement and straight line movement of two-link manipulator in a vertical movement. The lengths of robot arm links was designed from the desired workspace boundary conditions. Pololu 70:1 gear motors are selected for two joint revolutions of the robot manipulator after analysing the dynamics of two links. To control the robot, it performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.

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Publication Details

Published in : Volume 4 | Issue 11 | November-December 2018
Date of Publication : 2018-11-30
License:  This work is licensed under a Creative Commons Attribution 4.0 International License.
Page(s) : 97-104
Manuscript Number : IJSRST18401117
Publisher : Technoscience Academy

Print ISSN : 2395-6011, Online ISSN : 2395-602X

Cite This Article :

Thu Zar, Theingi, Su Yin Win, " Experimental Results on Circular and Linear Movements of Two-link Robot Arm, International Journal of Scientific Research in Science and Technology(IJSRST), Print ISSN : 2395-6011, Online ISSN : 2395-602X, Volume 4, Issue 11, pp.97-104, November-December-2018. Available at doi : https://doi.org/10.32628/IJSRST18401117
Journal URL : http://ijsrst.com/IJSRST18401117

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