A robotic arm is a type of mechanical arm. It is one of the most useful and complex mechanism used for many different jobs including those tedious, dangerous and difficult for a human to do. The robotic arm is usually defined as a fixed base system, meaning that the base links is fixed to the ground. The links of the manipulator can form a kinematic chain. The inverse kinematic refers to the use of the kinematics equations of a robot to determine the joint parameters that provide a desired position of the end-effector.
My project is to design a 6 DOF robotic arm from the mechanical design, manufacture, mechatronics to programming. Because the robotic program and simulation platform is wrote by myself, it is easy to be applied in any situations.
Special Base Design
In the base mechanism, we use three tunable screws as our supporting materials. The total weight of our arm is supported by these screws and steel balls instead of the base motor. The motor in the bottom is only used to exert rotational force to the whole mechanism. In order to make it move smoothly, we choose three steel balls as our contact points. |