robotARM
Robotic Spatial Positioning Arm built on ARM Cortex M4 Micro-controller using Servo Motors with Manual and Automated usage
Physical Model
Mechanical design of the robot arm is based on a robot manipulator with similar functions to a human arm.
Links are connected by joints to form an open kinematic chain. One end of the chain is attached to the robot base, and another end is equipped with a tool (hand, gripper, or end-effectors) which is analogous to human hand in order to perform assembly and other tasks and to interact with the environment.
Two types of joint which are prismatic and rotary joints and they connect the neighbouring link.
Links of the manipulator are connected by joints allowing rotational motion and the links of the manipulator is considered to form a kinematic chain.
A robotic arm with only four degrees of freedom is designed because it is adequate for most of the necessary movement.
Design of the robot arm is faced with these restrictions:
The length of links is assumed to be equal to satisfy spatial coding requirements
Gear system that allows for high-torque performance, uses harmonic drive system to deliver the required torque
3D printed components from https://hackaday.io/project/18388-mammoth-arm
Software Model
Code for the software model available on https://github.com/harshvs99/robotARM
Standard Motor Operation
Different pulse widths given to specify arm angle location
Uses given HAL drivers for servo motor operation
Bluetooth Module
HC05 Module used along with Mobile App
Input taken in terms of cm length along x,y,z spatial directions
Special command for automatic operation
Logical Model
Uses spatial array to store last recorded values
Calculates rotation based on differential of new and last recorded values
Converts given x, y, z co-ordinate system into r, \theta and \phi forms
Last updated