3 DOF ROBOTIC ARM

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[Audio] We have commenced a project that focuses on the creation and implementation of a 3 Degree of Freedom (DOF) robotic arm. This robotic arm is developed to provide improved adaptability and accuracy in its operations, such as pick and place. We have taken meticulous steps during the design process to guarantee the highest quality product, and have also conducted kinematic analysis and incorporated computational tools. The aim of the project is not only to construct a functional robotic arm but to demonstrate the interrelationship between conceptual models and real-world applications..

[Audio] This slide explores the DH parameters, a set of four parameters used to define the position and orientation of each link in a robotic arm. These parameters are significant as they provide an efficient way of representing the kinematic chain, simplifying the derivation of equations for forward and inverse kinematics..

[Audio] Slide four of the presentation provides insight into the significance of DH parameters for robotic arm kinematics. DH parameters establish the basis for algorithms used for trajectory planning, path optimization, and motion control, enabling the robotic arm to move efficiently and accurately..

[Audio] Slide 5 concentrates on the method of solving forward kinematics. Building a DH Parameter Table is the initial step, which outlines all of the link and joint parameters per robot link, for example link length, link twist, link offset and joint angle. Applying the DH parameters, the transformation matrices are computed and a composite transformation matrix that expresses the end-effector pose can be created..

[Audio] Slide 6 focuses on the research methodology employed in this project. The process began with the design of a 3-DOF Robotic Arm, taking into account both geometric and kinematic considerations. To accurately model the kinematics of the robotic arm, Denavit-Hartenberg parameters were established systematically. These parameters formed the basis for deriving transformation matrices and the equations for both forward and inverse kinematics. Our team conducted a thorough analysis of the physical structure and joint relationships within the robotic arm, allowing us to arrive at the DH parameters and ultimately the successful implementation of the 3-DOF Robotic Arm..

[Audio] We employed a pre-manufactured kit to configure our 3-DOF robotic arm, with components including servo motors, servo mounts, L-brackets, U-brackets, and servo extension cables. Servo motors are a reliable and high torque option, and were mounted by aluminum servo mounts, L-brackets and U-brackets for additional stability and support. Programming the robotic arm was managed by Matlab and Arduino to enable accurate control. This pairing allowed us to calculate the DH parameters from the physical model and form transformation matrices for each joint..

[Audio] For our 3 DOF Robot Arm, we employed an Arduino to interface with the servo motors and execute the pre-programmed movements. We also integrated Matlab programming with Arduino to provide precise and seamless motion capabilities to the arm. For optimal performance, an external power supply was also implemented to handle the high current consumption of the servo motors. To maximize efficiency in the assembly and programming processes, we chose pre-designed components and utilized servo extension cables during operation to prevent wire entanglement..

[Audio] Our presentation's slide 9 focuses on the 3 DOF robotic arm. This intricate arm is comprised of some basic metal segments to make a complex automaton. The CAD model provides us with an in-depth view of the whole construction. It's a remarkable example of engineering and it's incredible to witness the robotics come alive..

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[Audio] Slide 11 showcases the D-H Table, which provides us with a set of essential data for the construction of our 3 DOF Robotic Arm. This table provides us with the distance between each joint, data regarding the variable range in degrees for each joint, and the angles between adjacent segments. This table can be used to determine the movement pattern of the robotic arm and the mathematics behind it..

[Audio] Slide 12 deals with the transformation matrices of the 3 DOF robotic arm. It shows the transformation matrices for each of the three joints, which have been calculated with the help of the Denavit-Haremberg parameters of each joint. Each matrix is a combination of rotation and translation of the robotic arm, and they provide a precise description of the position and orientation of the robotic arm links relative to each other..

[Audio] Our research revealed that the 3 DOF Robotic Arm was able to achieve accurate output positions with different input angles. The table illustrates this as it shows, for three different sets of input angles, the robotic arm achieved the corresponding output positions with remarkable accuracy..

[Audio] Slide 14 showcases the conclusion of our work with the 3 DOF Robotic Arm. We are pleased with its performance, and our design and control strategies have yielded results, such as the stability of its movements and the exact alignment of our theoretical predictions to real-world performance. This has been enabled due to our selection of components and meticulous planning. Despite the positive results, we acknowledge that there is still potential in the form of control algorithms and advanced sensing to make this robotic arm even more suitable for various applications..

[Audio] Slide number 15 encompasses valuable research of 3 DOF ROBOTIC Arm, including Design of a 3-DOF Robotic Arm and Implementation of D-H Forward Kinematics, Design of a Three Degrees of Freedom Robotic Arm, Modeling and identification for high-performance robot control: An RRR-robotic arm case study, Modeling, Simulation and Position Control of 3DOF Articulated Manipulator, and Kinematics modeling of a 4-DOF robotic. These research works have significantly advanced the comprehension of 3 DOF robotics..