Design and Control of a Robotic Manipulator for Pick and Place Applications | ||||
| The International Undergraduate Research Conference | ||||
| Volume 6, Issue 6, September 2022, Page 1-10 PDF (1.33 MB) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/iugrc.2022.302705 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Adham Mohamed; Ahmed Abd-Elmonen; Ahmed Asem; Ahmed Atef; Ahmed Kamal Mohamed; El-Hussein Abd El Ghani; Mohamed Yasser; Mostafa Ashraf; Omar Mohamed | ||||
| Egyptian Academy for Engineering and Advanced Technology, Egypt. | ||||
| Abstract | ||||
| In this paper, the design and control of a robotic manipulator is introduced. The objective of this robotic manipulator is to be used for pick and place applications. The robotic arm's movement may be monitored and managed remotely. The controller for the robotic arm in this project is an Arduino Mega board. Three stepper motors and two servo motors are used in the robotic arm to move three links and a gripper, respectively. Both the forward and backward kinematics are obtained, such that the relation between the position of end-effector in Cartesian coordinates and the joint angles are determined. The determined joint angles are used to form the trajectory to be tracked by the controller. The parts of the robot manipulator are constructed using SolidWorks, a stress analysis was carried out on each part. On the Arduino mega board, the controller system is built using the Arduino IDE programming language. It also enables choosing and positioning activities to those found in the manufacturing processes, as well as monitoring and tracking the robotic arm's path. | ||||
| Keywords | ||||
| Robotics; computer aided design; system modeling; control | ||||
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