Research Of Kinematics And Control System For 5DOF Desktop Robotic Arm

Robot arm is an equipment with high automation and intelligence,which can effectively improving productivity.It is hard for traditional industrial robots to come into people's live for its big size and high cost.As the rapid development in 3C product and service robots,there has been a desk top robot arm in recent years.It is used in education,service,culture and entertainment,health care.According to practice requirements,a 5DOF desk to robot arm was developed in this paper.The development of robot arm at home and abroad was researched closely in this paper.The gaps in robotics industry between home with abroad was further studied.The key technology of robot arm was analyzed deeply.The whole scheme design was completed according to the functions of the 5DOF desk top robot arm in this paper.According to comparison of different structure of robot arm,the appropriate structure and driving modes was adopted.The idea of modularization design was used to design the base,arm and end effector of the 5DOF desk top robot arm basing on the whole scheme design.The three three-dimensional models and object of the 5DOF desk top robot arm were built respectively.In order to figure out the kinematics of the 5DOF desk top robot arm,the coordinate of the robot arm joint was built based on D-H method.The transform matrix was studied for coordinate translation,coordinate rotation and composite transformation.The forward kinematics and inverse kinematics were analyzed based on the structure and joint parameters of the 5DOF desk top robot arm.The equations were established for forward kinematics and inverse kinematics.The multiple solutionproblems were analyzed for inverse kinematics.The hardware of control system was designed basing on the functions of the 5DOF desk top robot arm.The Carduino UNO R3 was used as development board.The interfaces were integrated by Arduino sensor expansion board for servos,LCD screen,manualbuttons,communication systems and other sensors,which simplify the interface circuit.Theservos were used as the driving force of joints.The circuit was designed for debugging and the LCD screen.The control program,which include servos controlling,manual debugging and LCD screen,was completed using Arduino IDE.In order to verify rationalization of 5DOF desk to robot arm,the loading and locationprecision experiment were done.The results showed that the 5DOF desk top robot arm meets the requirements of loading and locationprecision.The robot arm has simple structure and moves steady,which can be used in education,entertainment services and so on.It is reference for lightweight design and modularity of robot arm.