Research On 6DOF Teaching Robot Arm System

The robot arm is the important part of robot and embodies mechanical and electronic features that multi-disciplinary are combined and infiltrated. It involves mechanical engineering, electronic technology, computer technology, automatic control theory and artificial intelligence, etc and provides a good practical platform for multi-disciplinary and fit for teaching related mechanical and electronic majors.This paper studies and designs a 6 DOF robotic arm with open frame for teaching. This system consists of 6 DOF manipulator, PCS, Arduino module, servo motor driver and auxiliary function module. The robot arm can be used for demonstration, fitting and dis-assembling, electrical wiring and the software programming experiments and so on.Firstly, this paper introduces the robot's application and development trends, summarizes the researches and development of teaching robot at home and abroad and introduces the related technologies of robotic arm.Secondly, this paper analyzes the robot arm's kinematics in detail, designs its hardware system, put forward the open framework of "PC+Arduino+servo controller" and designs the robotic arm's controlling software. The Arduino and servo motor controller modular system have been adopted on the six degrees of freedom robotic arm and the software framework have been realized with the core functions of controlling system based on the development environment of Eclipse software.Finally, On the basis of AS-6DOFB type, the designed 6DOF robot arm has been tested. The data of robot arm controlling system's speed and planning path have been collected and provided a reference for experimental teaching and practical research of robot.