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