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2 DOF Robotic Arm By: Zachary Guy ET 493 – Fall 2018

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Presentation on theme: "2 DOF Robotic Arm By: Zachary Guy ET 493 – Fall 2018"— Presentation transcript:

1 2 DOF Robotic Arm By: Zachary Guy ET 493 – Fall 2018
Advisor: Dr. Mohammad Saadeh Instructor: Dr. Cris Koutsougeras

2 Abstract Build upon previous project Goal: 2 DOF Robotic Arm
Control of Single Motor with use of Teach Pendant Goal: 2 DOF Robotic Arm Cover such areas as: mechanisms, motion, dynamics, motor control, programming, and electronics.

3 Task To create functioning and programmable 2 DOF Robotic Arm while controlling two separate motors with teach pendant

4 Previous Project

5 Engineering Challenges
Transmission of Motion Programming Trajectory Planning

6 Research and Methodology
Design of Arm Use of Belts and Pulleys Teach Pendant

7 Research and Methodology

8 Research and Methodology

9 Revised Design – Side View

10 Revised Design – Top View

11 Revised Design – Isometric View

12 Parts Needed Part Number Part Description Quantity 11A-DST-A6HK1
AC Servo Motor 2 DYN4-H01A2-00 Servo Drive 585462 18” C-Channel 1 585466 24” C-Channel 615434 15T Pinion Pulley B XL 48” Timing Belt 545619 Clamping D-Hub 4 634080 4” D-Shaft 634082 5” D-Shaft 535198 Flanged Ball Bearing CAEN-HH3-TSP Encoder Cable CAMP-HH3-TSP Motor Power Cable

13 Materials

14 Materials – pt. 2

15 2 DOF Robotic Arm Progress

16 2 DOF Robotic Arm Progress

17 2 DOF Robotic Arm Progress

18 Design of Shaft Adapter

19 Design of Shaft Adapter

20 Design of Shaft Adapter

21 Design of Shaft Adapter

22 Prototype Built

23 Prototype Built

24 Prototype Built

25 Work to be Completed During Next Semester
Control of 2 DOF Robotic Arm Arduino Code to communicate with Servo Drive Operating both links with one code Use of Push buttons and/or joystick Trajectory Planning Determine set points to reach Use of Inverse Kinematics Redesign of Teach Pendant Larger Display More Options for User to select

26 2 DOF Robotic Arm Zachary Guy, ET 493
Summary of Things Accomplished: Design of 2 DOF Robotic Arm Selection of Pulley/Belt Procurement of Motor/Controller Design of Shaft Adapter Assembly of 2 DOF Robotic Arm Goals/Work to be Done: Control of 2 DOF Robotic Arm Trajectory Planning Redesign of Teach Pendant


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