Programmable Arm Robot Manipulator

Khairulanuar, Zainuddin (2010) Programmable Arm Robot Manipulator. Project Report. UTeM, Melaka, Malaysia. (Submitted)

	PDF (24 pages) Programmable_Arm_Robot_Manipulator-Full_Text_-_24_pages.pdf Download (528kB)
	PDF (Full Text) Programmable_Arm_Robot_Manipulator-Full_Text.pdf Restricted to Registered users only Download (5MB)

Abstract

In the design and construction of a programmable arm robot manipulator, most of the components were taken from an old printer, thus reducing the overall cost. The robot is a spherical configuration type with two rotary joints and a gripper. This robot contains three permanent magnet stepper motor as it actuators. The method used in controlling the robot is an open-looped where no feedback is required. When one of the two sensors mounted to the robot detects an object, a PIC16F877 microcontroller is employed to generate pulses with a desired frequency to drive the motors via a driver circuit. The advantages of this design are low cost and considerably accurate. The robot can be programmed to move at any point within its working volume. For the experimental set-up, the program for the robot is written in C-language and downloaded to the microcontroller using a C compiler and a PIC16F877 programmer.

Actions (login required)

View Item