Revolute robotic arm

Date of Publication

2001

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Manufacturing Engineering and Management

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Adviser

Nixon A. Ng

Defense Panel Chair

Homer S. Co

Defense Panel Member

Edgardo Guison
Phyllis L. Lim

Abstract/Summary

This thesis describes the development and testing of a five-degree, revolute robotic arm, which is used primarily for instructional and educational purposes. Speed and the repeatability (the ability of the robot to return to a specified point) of the robot arm are the concern of this study. Comparison with other robot arm projects will be conducted in order to determine this.

The robot arm is capable of picking and placing objects within its working environment.

Aside from the mouse and the keyboard, a control pad is also included enabling the user to manipulate the robot arm.

This thesis includes a software application, which simulates the robot arm's movement. This allows the user to test and view commands before passing it onto the robot. Relation between direct and inverse kinematics is clearly demonstrated since it is the concept used for the robot arm to reach its desired position. The software application also allows the user to record, save and load commands, which will be very useful for demonstration purposes. The program is designed to be user-friendly to aid the faculty and students and also to qualify it as an educational tool.

This thesis includes the results and analysis of experiments done in order to determine if the robot arm is able to perform functions accurately. Repeatedly and accuracy test was conducted to determine if the robot is efficient. Testing of the individual joint speeds was also conducted in order to determine if it exceeds the other robot arm project speed specifications. Different objects were tested for the robot arm to secure in order to determine the robot arm's handling capability.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU15302

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

vii, 68, [153] leaves : ill. (some col.) ; 28 cm.

Keywords

Robotics; Robotics--Design and construction

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