Open AccessDesign and Fabrication of 3-DOF Robot Arm Using Parallelogram Mechanisms
Author(s) -
Vo Duy Cong,
Dang Duy,
Lê Minh Phương
Publication year - 2021
Publication title -
international journal of emerging trends in engineering research
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.218
H-Index - 14
ISSN - 2347-3983
DOI - 10.30534/ijeter/2021/03992021
Subject(s) - arduino , parallelogram , stepper , robot , robotic arm , robot end effector , software , arm solution , kinematics , simulation , engineering , computer science , control engineering , robot control , computer hardware , embedded system , mobile robot , mechanical engineering , artificial intelligence , operating system , physics , optics , classical mechanics
This paper focuses on the design, fabrication and control of a 3-DOF robot arm using stepper motors. The robot arm uses three parallelogram mechanisms to position the end-effector of the robot and keep the end-effector always parallel to the horizontal during the robot motion. The robot is designed on the Autodesk Inventor software. Separated parts of the robot are saved in the stereolithography (STL) file format. Then the parts are fabricated by a 3D printer. The movement of the robotic arm is driven by stepper motors and controlled by Arduino. The Arduino board implements kinematics calculation, creates pulses and sends them to three drivers to driven stepper motors. A software is developed to control the robot by sending the command to the Arduino board.