2 DOF Robotic Arm By: Zachary Guy ET 493 – Fall 2018 Advisor: Dr. Mohammad Saadeh Instructor: Dr. Cris Koutsougeras
Abstract Build upon previous project Goal: 2 DOF Robotic Arm Control of Single Motor with use of Teach Pendant Goal: 2 DOF Robotic Arm Cover such areas as: mechanisms, motion, dynamics, motor control, programming, and electronics.
Task To create functioning and programmable 2 DOF Robotic Arm while controlling two separate motors with teach pendant
Previous Project
Engineering Challenges Transmission of Motion Programming Trajectory Planning
Research and Methodology Design of Arm Use of Belts and Pulleys Teach Pendant
Research and Methodology
Research and Methodology
Revised Design – Side View
Revised Design – Top View
Revised Design – Isometric View
Parts Needed Part Number Part Description Quantity 11A-DST-A6HK1 AC Servo Motor 2 DYN4-H01A2-00 Servo Drive 585462 18” C-Channel 1 585466 24” C-Channel 615434 15T Pinion Pulley B375-480XL 48” Timing Belt 545619 Clamping D-Hub 4 634080 4” D-Shaft 634082 5” D-Shaft 535198 Flanged Ball Bearing CAEN-HH3-TSP Encoder Cable CAMP-HH3-TSP Motor Power Cable
Materials
Materials – pt. 2
2 DOF Robotic Arm Progress
2 DOF Robotic Arm Progress
2 DOF Robotic Arm Progress
Design of Shaft Adapter
Design of Shaft Adapter
Design of Shaft Adapter
Design of Shaft Adapter
Prototype Built
Prototype Built
Prototype Built
Work to be Completed During Next Semester Control of 2 DOF Robotic Arm Arduino Code to communicate with Servo Drive Operating both links with one code Use of Push buttons and/or joystick Trajectory Planning Determine set points to reach Use of Inverse Kinematics Redesign of Teach Pendant Larger Display More Options for User to select
2 DOF Robotic Arm Zachary Guy, ET 493 Summary of Things Accomplished: Design of 2 DOF Robotic Arm Selection of Pulley/Belt Procurement of Motor/Controller Design of Shaft Adapter Assembly of 2 DOF Robotic Arm Goals/Work to be Done: Control of 2 DOF Robotic Arm Trajectory Planning Redesign of Teach Pendant