Motion study of a robotic arm

Abstract

This thesis is written for the University of Applied Sciences Arcada. The aim for the thesis was to build a robotic arm kit, upload a code do the build, model the robot using SolidWorks, perform three cases of motion analysis and to calculate by hand the velocities and accelerations. This thesis is related to the degree programme on the basis of courses Product Design, Solid Modelling, Mechanics, and Mechanics of Materials 1. The thesis work starts with a literature review revolving the origin of robots and modern methods on how to use them in today’s society. The assembly of the robotic arm took place in Arcada’s lab room B225. The code was uploaded to the robotic arm by using a software called Arduino IDE. The parts of the robotic arm were modelled in SolidWorks. Each of the parts were first modelled separately but made into sub-assemblies later. With the sub-assemblies done, a final assembly of the robotic arm was made. The assembled robot was opened in mate controller to confirm it was assembled correctly. When trying to perform a motion analysis by using parameters from the mate controller, the analysis gave error messages. Motion analysis was tried without the usage of mate controller but gave new error messages. The model was simplified. With the simplified model, the motion analysis worked after one motor had been added. In motion analysis, linear and angular velocity, and linear and angular acceleration were analyzed. The RPM set for the servo was 10 RPM. The results for case A&B gave the same results because the distance is the same for both of the axes. Results SolidWorks for case A&B, v=145 mm/s, а=152 mm/s^2 ,ω=60 deg/s, a=0 deg/s^2 . For case C the results from SolidWorks are C, ω=85 deg/s and v=205 mm/s when time is 0. By hand calculated the v=144,419 mm/s, a=151,235 mm/s^2 , ω=60 deg/s, a=0 deg/s^2 for cases A&B. Hand calculated results for case C, ω=83,6518 deg/s and v=0,2 m/s. Difference in case A&B between SolidWorks and by hand calculations were: 0,4% for v, 0,5% for a, 0 for ω and no existing a. Results for case C, the ω difference 1,59% between SolidWorks and hand calculated results. For v at start 2,47% difference but the results from SolidWorks are not linear.