Research Article

Design of a Three Degrees of Freedom Robotic Arm

by  Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar
journal cover
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 179 - Issue 37
Published: Apr 2018
Authors: Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar
10.5120/ijca2018916848
PDF

Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar . Design of a Three Degrees of Freedom Robotic Arm. International Journal of Computer Applications. 179, 37 (Apr 2018), 12-17. DOI=10.5120/ijca2018916848

                        @article{ 10.5120/ijca2018916848,
                        author  = { Madiha Farman,Muneera Al-Shaibah,Zoha Aoraiath,Firas Jarrar },
                        title   = { Design of a Three Degrees of Freedom Robotic Arm },
                        journal = { International Journal of Computer Applications },
                        year    = { 2018 },
                        volume  = { 179 },
                        number  = { 37 },
                        pages   = { 12-17 },
                        doi     = { 10.5120/ijca2018916848 },
                        publisher = { Foundation of Computer Science (FCS), NY, USA }
                        }
                        %0 Journal Article
                        %D 2018
                        %A Madiha Farman
                        %A Muneera Al-Shaibah
                        %A Zoha Aoraiath
                        %A Firas Jarrar
                        %T Design of a Three Degrees of Freedom Robotic Arm%T 
                        %J International Journal of Computer Applications
                        %V 179
                        %N 37
                        %P 12-17
                        %R 10.5120/ijca2018916848
                        %I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper concerns with the design of a three degrees of freedom robotic arm, which is intended to pick and place lightweight objects based on a color sorting mechanism. It is mainly made of three joints, a gripper, two rectangular shaped links, a rotary table and a rectangular platform. The angular rotation of each joint is powered by a servomotor. Furthermore, the angular position of each servomotor shaft is controlled by a signal from an Arduino microcontroller which executes a Matlab code. The Matlab code includes the inverse kinematics equations which are necessary for the determination of the target joint angles for a certain Cartesian position of the end-effector. The robotic arm’s design process included several static and dynamic calculations, mechanical properties calculations and prototype testing in order to provide a final product with well-established structure and functionalities.

References
  • Shah, J., Rattan, S. S., and Nakra, B.C. 2013. End-Effector Position Analysis Using Forward Kinematics for 5 DOF Pravak Robot Arm. International Journal of Robotics and Automation 2(3) (Sept. 2013), 112 - 116.
  • Denavit, J. and Hartenberg, R.S. 1955. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices. Journal of Applied Mechanics 22 (June 1955), 215 - 221.
  • Fernini B. 2012. Kinematic Modeling and Simulation of a 2-R Robot by Using Solid Works and Verification by MATLAB/Simulink. International Journal of Robotics and Automation 1(2) (June 2012), 78 - 93.
  • Subhashini, P.V.S., Raju, N.V.S., and Rao, G. V. 2014. Modeling, simulation and analysis of a SCARA robot for deburring of circular components. ARPN Journal of Engineering and Applied Sciences. 9(4) (April 2014), 398 - 404.
  • Craig J. 2016. Introduction to Robotics: Mechanics and Control, 3rd ed 2016. Pearson Education International.
Index Terms
Computer Science
Information Sciences
No index terms available.
Keywords

Robotic arm three degrees of freedom forward kinematics inverse kinematics workspace

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