3 DOF ARTICULATED ROBOTIC ARM
Project is to design and control a 3DOF ROBOTIC ARM having three revolute joints. Mechanical structure consists of a rotating base and two arms. Rotation of base and arms are 180 degree and 90 degree respectively. Designing of structure is done on “SOLID WORKS” and Aluminum is used as material because of its light weight.
Inverse kinematic equations are used to determine the joint angles on the basis of given coordinates to actuate the joints. Three DC motors with optical encoders are installed in each joint to achieve the desired position.
A microcontroller ATMEGA16 performs all the calculations for which codes are written in C-language using compiler AVR STUDIO. Inverse kinematic equations are fed into the controller to give the signal to the DC motor driving circuitry which is based on IRFZ44 MOSFETS. DC drive requires PWM signal from the controller to drive the motors.
GUI is made on “LABVIEW” to provide user friendly environment in which user gives coordinates and ARM will move accordingly. Serial or USB is used to communicate LABVIEW with controller.
The robotic arm can be used in industries for material handling, automobile painting and other similar applications.