Assembling And Calibration Of A Robotic Arm Essay

1349 WordsJun 16, 20156 Pages
Assembling And Calibration Of a Robotic Arm Asad Ashraf Malik Department of Electronics Engineering Hamdard University, Karachi Asad.mallick@hotmail.com ABSTRACT A robotic arm assembly includes a support arm, a rotatable lower arm connected to the support arm, an upper rotatable arm connected to the lower arm, a first driver for driving the lower arm, a first transmission transferring power from the first driver to the lower arm, a second driver for driving the upper arm, and a second transmission transferring power from the second driver to the upper arm. The first and second drivers are mounted on the support arm. The second transmission includes a belt assembly, a beveled gear assembly driven by the belt assembly, and a speed reducer coupled to the upper arm. . I. INTRODUCTION In the past, robotic arms have been constructed and designed for the use of either an expensive, complex or heavy-duty arms for heavy industrial use, or inexpensive, light-duty arms for educational and robotic research purposes. With respect to the industrial robot arms, closed-loop control systems are typically utilized with motors drive and shaft encoders often located at each of the joints. Unimation Corporation and Cincinnati Milacron Corporation. The closed-loop configuration, as well as the use of shaft encoders and drives at each joint will permit an arm in which a precise control can be realized. However, due to the added weight at every joint, the structural components should be

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