6 DOF Industrial Robotic Arm
6-DOF Robotic Arm for pick and place purposes is Our Graduation Project, Sep2018 - May2019. it's a good Example of Mechatronics machines.
simply, it's several rigid links connected together by 6 revolute joints driven by stepper motors controlled to move simultaneously, where its gripper can pick something from place into its working space to another place into its working space.
The most common applications of industrial robots include Spot welding, Spraying, Assembling and Manufacturing. Many of these applications actually require accomplishment of pick and place task from one point in space to another point.
it is very flexible because of its structure, it can reach a volume into its working space from every angle, can access into awkward spaces and avoid obstacles.
our own GUI made it easy to use in either of its modes.
the Robot has two modes :
- Manual Mode : move each joint manual or move end-effector and inverse kinematics will take care of joint angles .
- G-code mode: It can take Excel file contains task path and gripper angles in every position and robot will do task precisely.
Our Graduation 6DOF Robotic arm allows us to gain theoretical and practical experience in robotics, automation and control systems.
Mechanical parts
The Robot Specifications:
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Payload : up to 1.5kg
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Working area: circle with 145 cm diameter
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Material : AL7071
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Cad software : Solidworks
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Actuators : Stepper Motors with pulley and belt gearbox
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Electrical Cad software : Altium Designer
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Programming Software : Matlab
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Controlled by : our Stand Alone Desktop Application
Our Stand Alone Desktop Application used as GUI
As a Team Leader:
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responsible for synchronization between the Robot parts.
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did transmission calculations for belts and pulleys selections.
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contributed to the Robot Design.
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programmed the Robot to work flexibly.
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built our Stand Alone Desktop Application used as GUI.
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contributed to generating the Robot equations of motion.
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implemented the equations of motion to the Robot.
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responsible for the implementation of the Robot.
