1. PANTOGRAPH

2. IDEA This pantograph is one of my robotics projects that we have to make and build in the university. When I thought about making this project before joining Fab Lab, my team and I didn't know how to build the body of this robot. Then when I joined Fab Lab and felt that I can do anything coming to my mind, I said to myself: why don't we make our project in Fab Lab to apply what I learned in it and what we learned from university in one project ?. Finally I decided to make the project in Fab Lab with a lot of motivation.

3. OBJECTIVE 1 st This project will help me to understand the concepts and theories about robotics that have been taken in the universityand apply it to see the results. Also we can manipulate with it to see the effect of this manipulation and learn a lot of thing by ourselves. 2 nd This kind of robots can be used in many applications like: Pick and place robot, 2D Drawbot, and it also can be a master of a system that have slave and need to be controlled.

4. WHAT IS PANTOGRAPH Pantograph is a robot that consist of 5 links (5 Bar Mechanism) as we see in the figure below

5. MECHANICAL PARTS AND DESIGN

8. ELECTRONICS COMPONENTS

9. MOTORS Two DC motors were used Specifications: Shaft: 3 mm shaft diameter No-load speed: ~ 4400 rpm Size: ~ 1.7'' x 1.3'' x 3.3'' (4.2 cm x 3.2 cm x 8.9 cm) Weight: ~ 0.4 lb (185 g) Encoders: Each motor has an encoder attached to it to detect the position of the motor. Specifications: 2048 pulse/rotation 2 Channels (Detect position and direction)

10. MICROCONTROLLER: The mbed LPC1768 microcontroller was used for controller implementation. The microcontroller is based on a 32-bit ARM Cortex-M3 core. Specifications:  High performance ARM® Cortex™-M3 Core  96MHz, 32KB RAM, 512KB FLASH  5V USB or 4.5-9V supply  C/C++ Programming Language

11. CIRCUIT SCHEMATIC:

12. CONNECTIONS

13. THANK YOU