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10.5120/ijca2018916848 |
Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath and Firas Jarrar. Design of a Three Degrees of Freedom Robotic Arm. International Journal of Computer Applications 179(37):12-17, April 2018. BibTeX
@article{10.5120/ijca2018916848, author = {Madiha Farman and Muneera Al-Shaibah and Zoha Aoraiath and Firas Jarrar}, title = {Design of a Three Degrees of Freedom Robotic Arm}, journal = {International Journal of Computer Applications}, issue_date = {April 2018}, volume = {179}, number = {37}, month = {Apr}, year = {2018}, issn = {0975-8887}, pages = {12-17}, numpages = {6}, url = {http://www.ijcaonline.org/archives/volume179/number37/29281-2018916848}, doi = {10.5120/ijca2018916848}, publisher = {Foundation of Computer Science (FCS), NY, USA}, address = {New York, 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
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Keywords
Robotic arm, three degrees of freedom, forward kinematics, inverse kinematics, workspace