Design and Implementation of a new mechanism for a planar robotic arm

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Abdollahi Khosroshahi Hossein; BADAMCHIZADEH MOHAMMAD ALI

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Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:9 Page(s): 58-68

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Information Journal Paper

Title

Design and Implementation of a new mechanism for a planar robotic arm

Author(s)

Abdollahi Khosroshahi Hossein | BADAMCHIZADEH MOHAMMAD ALI | Issue Writer Certificate

Keywords

robotic armQ1

kinematicsQ2

workspaceQ2

singular pointsQ1

Abstract

robotic arms are widely used for 2D desktop applications. In this paper, a new mechanism for a planar robotic arm is presented. In addition to having the benefits of both series of parallel robots, the proposed mechanism also eliminates the disadvantages of both categories. The arm made on the same side as the parallel arms has rigidity, strength and precision, and other positive features of the parallel arms, and on the other hand, like the serial arms, due to the lack of singular points inside the workspace, has a large, symmetrical and also be able to move continuously in the entire workspace. The kinematics relations for the arm are derived, and a controller based on AVR microcontroller & computer for the arm are introduced. The results indicate an improvement in arm performance and the removal of singular points from within the workspace.

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APA: Copy

Abdollahi Khosroshahi, Hossein, & BADAMCHIZADEH, MOHAMMAD ALI. (2018). Design and Implementation of a new mechanism for a planar robotic arm. MODARES MECHANICAL ENGINEERING, 18(9 ), 58-68. SID. https://sid.ir/paper/179442/en

Vancouver: Copy

Abdollahi Khosroshahi Hossein, BADAMCHIZADEH MOHAMMAD ALI. Design and Implementation of a new mechanism for a planar robotic arm. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(9 ):58-68. Available from: https://sid.ir/paper/179442/en

IEEE: Copy

Hossein Abdollahi Khosroshahi, and MOHAMMAD ALI BADAMCHIZADEH, “Design and Implementation of a new mechanism for a planar robotic arm,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 9 , pp. 58–68, 2018, [Online]. Available: https://sid.ir/paper/179442/en

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