International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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Volume 179 - Issue 37 |
Published: Apr 2018 |
Authors: Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar |
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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
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.