Industrial Robotic Arm
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Date
2022
Authors
Khwaireh Abd AL-Rhman
Alul Mutaz
Salah Noor AL-Deen
Bane fadel Harith
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Abstract
This is a research project about robotic arm, the research includes definition robotic arm, examples for application of robotic arm, study mechanical structure for robotic arm, motion and the corresponding mathematical models which describes their behavior. research also include more details about the robotic arm as: Design rigidity, Vibration avoidance, efficient torque and actuator system.
Car and vehicle manufacture deploy a large number of robotic arms. Robotic arm helps manufacturers to increase their production capacity while maintaining higher quality. In addition, robotic arm usually performs many tasks such as (but not limited to); material handling, spot welding, machining and lathing.
The work in this project has started with literature review for the various types of mechanical-designs, actuators and control techniques such as open loop and closed loop control.
There are plenty of choices when it comes to picking the material for the robot. Some robots are made of, iron, copper or aluminum. In this project 3D printer will be chosen because its cheap, lightweight than the other materials and It has the ability to withstand the strength required of its use.
There are a number of technologies are used to action of the robot arm. A simple method is by providing a dedicated controller or a driver for each actuator (stepper-motor). The driver handles the motor’s operation in two directions (clockwise and counter clockwise), it also controls the speed of rotation and receives information about the position of the motor.
The six motors with six drivers are all connected with a computer via special interfacing modules. The main challenge in this project is to design the software which controls and interact the operations of all arms and motors.
The ultimate objective of this project is to carry out a project through the design stages without having any obstacles:
The first design stage: to design the discrete mechanical parts that such as arms, bearings and plastic covers
The second design stage: to assemble the mechanical parts in order to create the final mechanical structure
The third design: use of proper selection attributes to choose the right actuator
The fourth design stage: utilizing a proper driver module for the actuation
The final design stage: to come up with the proper software development which allows the robot to move and perform complex tasks