Experimental Results on Circular and Linear Movements of Two-link Robot Arm
DOI:
https://doi.org/10.32628/IJSRST18401117Keywords:
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.Abstract
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.
References
- M.H.Ismail, A.N.W.QI, K.L.Voon, M.A.Ismail, N.Mustaffa, “Design and Development of a Mechanism of Robotic Arm for Lifting Parts”, 2nd Integrated Design Project Conference (IDPC) 2015
- Zlajpah, L. (2008). Simulation in robotics. Mathematics and Computers in Simulation, 79(4), 879-897. doi:10.1016/j.matcom.2008.02.017.
- Fernando Reyes, Rafael Kelly, “Experimental evaluation of model based controllers on a direct-drive robot arm”, Mechatronics, Vol. 11, P.P. 267-282, 2001
- Florin Moldovenau, Vasile Comnac, Dan Floroian, Cristian Boldisor, “Trajectory Tracking Control of a Two-link Robot Manipulator Using Variable Structure System Theory,” in CEAI, Vol.7, No.3, PP.56-62, 2005
- Aalim M. Mustafa and A AL-SAIF, “Modeling, Simulation and Control of 2-R Robot”, Global Journal of Researches in Engineering: H Robotics and Nano-tech, Volume 14, Issue 1, Version 1.0, 2014
- Amin A. Mohammed and M. Sunar, “Kinematics Modeling of a 4-DOF Robotic Arm”, Internal Conference on Control, Automation and Robotics 2015, 978-1-4673-7523-8/15/$31.00 ©2015 IEEE
- Mahmoud Gouasmi, Mohammed Ouali, Brahim Fernini, Mohammed Meghatria, “Kinematic Modelling and Simulation of a 2R Robot Using SolidWorks and Verification by MATLAB/Simulink”, International Journal of Advanced Robotic Systems, DOI: 10.5772/50203
- S K Saha, “Introduction to Robotics”
- Amey V.Sutar, Dr. S. S. Ohol, “Kinematic And Dynamic Analysis Of A Robot Arm Used For All Terrain Robot”, International Journal of Engineering Research & Technology (IJERT), Vol. 3 Issue 5, May-2014
- Tarun Pratap Singh, Dr. P. Suresh, Dr. Swe Chandan, “Forward and Inverse Kinematic Analysis of Robot Manipulator”, International Research Journal of Engineering and Technology (IRJET), Volume: 04 Issue:02, Feb-2017
- Peter Frankovsky, Darina Hroncova, Ingrid Delyova, Peter Hudak, “Inverse and forward dynamic analysis of two link manipulator”, www.sciencedirect.com, Procedia Engineering 48 (2012), 158-163
- Ruthber Rodriguez Serrezuela, Adrian Fernando Chavarro Chavarro, Miguel Angel Tovar Cardozo, Alejandro Leiva Toquica, Luis Femando Ortiz Martinez, “Kinematic Modelling of a Robotic Arm Manipulator Using MatLab”, ARPN Journal of Engineering and Applied Sciences, VOL.12, No. 7, APRIL 2017
- Vivek Deshpande, P M George, “Kinematic Modelling and Analysis of 5 DOF Robotic Arm”, International Journal of Robotic Research and Developments (IJRRD), Vol. 4, Issue 2, Apr 2014, 17-24
Downloads
Published
Issue
Section
License
Copyright (c) IJSRST
This work is licensed under a Creative Commons Attribution 4.0 International License.