Control Of 5 DC Motor For Application In Robot Manipulator

Song , Chien Shyen (2008) Control Of 5 DC Motor For Application In Robot Manipulator. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This report presents a project entitled “Control of Five Direct Current (DC) Motor for Application in Robot Manipulator”. The idea of conducting this research is to study the ability, functionality and the reliability of DC motor as the actuator for the robots manipulators. The characteristics and types of DC motor are studied. The total of five Shunt DC motor are used to act as the electrical actuating system for the robot arm. Three designs of robot arm are designed and conceptualized to support the five DC motors. The designs are then presented in this report and the best design is being developed. For this project, a 4 axis using 5 DC motors is chosen. The proposed robot arm structure is documented and drawn using Computer Aided Design (CAD) program. The specifications of materials, types of motors and controllers unit are discussed. Upon completion, the robot arm will be mounted on the slider fabricated and available in the Faculty of Manufacturing’s (FKP) Robotics Lab. To build a good robot, the controller is the most important component. For this project, a relay triggered controller is determined. The methods of fabrication and components needed for the relay triggered controller is researched and developed. Using this controller and robot arm, a series of test is designed and tested. From the findings, it is found out that DC motor is suitable to be used as robot manipulator.

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