Open AccessExperimental Results on Circular and Linear Movements of Two-link Robot Arm
Author(s) -
Thu Zar,
A Theingi,
Su Yin Win
Publication year - 2018
Publication title -
international journal of scientific research in science and technology
Language(s) - English
Resource type - Journals
eISSN - 2395-602X
pISSN - 2395-6011
DOI - 10.32628/ijsrst18401117
Subject(s) - workspace , kinematics , robot , robotic arm , arm solution , inverse kinematics , bang bang robot , control theory (sociology) , articulated robot , robot kinematics , industrial robot , acceleration , computer science , simulation , robot calibration , robot end effector , control engineering , engineering , artificial intelligence , mobile robot , control (management) , physics , classical mechanics
Robots and manipulators are used to serve machine tools in automatic production system. The robot arm was designed with two degrees of freedom and accomplished accurately simple tasks. This paper represents experimental results on circular movement and straight line movement of two-link manipulator in a vertical movement. The lengths of robot arm links was designed from the desired workspace boundary conditions. Pololu 70:1 gear motors are selected for two joint revolutions of the robot manipulator after analysing the dynamics of two links. To control the robot, it performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.