Pick and place revolute robot arm mounted on an X-Y coordinate table

• Main Authors: Abog, Dave, Ancheta, Angelo Benito, Guison, Edgardo, Lukban, Lyle Vincent, Serrano, Liwanag
• Format: text
• Language: English
• Published: Animo Repository 1997
• Subjects: Manipulators (Mechanism); Computers > Educational use; Robotics; Computers > Industrial use; CADSES (Computer programs); Computer simulation; Computer integrated manufacturing systems
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/8255
• Institution: De La Salle University

Development work with computer-controlled manipulators was limited, at first, to laboratories at a few research-oriented universities in the USA and overseas. Principal advances have come from artificial intelligence laboratories, particularly at Stanford University and the Massachusetts Institute of Technology. Work has concentrated on manipulation languages, manipulation planning strategies, coordinate transformations use of sensors, and manipulation kinematics. Much of this work is highly mathematical and has been performed on large sophisticated computing systems. Industry has applied a great deal of this research to factory situations, and as a result thousands of robot arms now help to manufacture products we use daily. Industrial robots spot-weld automobile bodies, feed material into punch-presses, spray-paint metal & plastic components, empty injection-molding machines, and perform many other factory jobs. Unfortunately, the price range of most industrial robots - $35,000 to $120,000 - hinders robot experimentation by individuals and schools, as do the carefully guarded, propriety hardware and software details of these machines. The aim of the study is to develop a low-cost manipulation system for educational and industrial use. The result is a fully functional revolute robot mounted on an X-Y coordinate plane. The revolute arm is modeled as that of a human arm that is composed of the shoulder, the elbow and the wrist. The whole assembly of the arm can be rotated through its base and can still be moved within a given coordinate plane (X and Y). It can pick and place an object, with a maximum weight of 50 grams, from one point to another. It can be programmed manually to derive a given set of movements and has a playback option to run the program continuously or up to a certain number of repetitions. Accuracy and repeatability of the system is depended mainly on the mechanical system. 100% accuracy on X, Y, Base, Arm, Forearm and Pitch movement with 2mm tolerance except for the roll movement with 40% accuracy at 2 mm tolerance.