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Design of a Three Degrees of Freedom Robotic Arm

by Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 179 - Number 37
Year of Publication: 2018
Authors: Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar
10.5120/ijca2018916848

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 },
issue_date = { Apr 2018 },
volume = { 179 },
number = { 37 },
month = { Apr },
year = { 2018 },
issn = { 0975-8887 },
pages = { 12-17 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume179/number37/29281-2018916848/ },
doi = { 10.5120/ijca2018916848 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T00:57:40.588533+05:30
%A Madiha Farman
%A Muneera Al-Shaibah
%A Zoha Aoraiath
%A Firas Jarrar
%T Design of a Three Degrees of Freedom Robotic Arm
%J International Journal of Computer Applications
%@ 0975-8887
%V 179
%N 37
%P 12-17
%D 2018
%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
  1. 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.
  2. 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.
  3. 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.
  4. 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.
  5. Craig J. 2016. Introduction to Robotics: Mechanics and Control, 3rd ed 2016. Pearson Education International.
Index Terms

Computer Science
Information Sciences

Keywords

Robotic arm three degrees of freedom forward kinematics inverse kinematics workspace

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