4 DOF electromagnetic robot arm

By Ahmed Murad

This assignment is the first assignment in the project of IN5590. The project will span over the assignment 4 to assignment 7. The project will end in a open demo where we invite all staff members and students at ROBIN to attend.

The aim for this assignment is to make a description and a sketch for the project.

1) My own topic - 4 DOF electromagnetic robot arm

A 4 DOF robot arm with a electromagnetic end effector. The robot arm will be controlled by a PC. The electromagnetic end effector will be able to pick up and drop small metal objects, and turn on and off via the controlling PC. All the actuators are rotational.

The configuration is choosen so we can access a sphere around the robot base. The last joint is technically an end effector wrist, and is necessary for the end effector to be parallel to the ground.

2) Goals

The goal for this project is to make a 4 DOF robot arm that can pick up and drop small metal objects. The robot arm will be controlled by a PC. If i have time, i will make a GUI for the controlling PC. And if I have even more time, i will find the inverse kinematics for the robot arm and use it to make the robot arm move to a specific positions.

3) Sketch

illustration at /studier/emner/matnat/ifi/IN5590/h24/portfolio/assignment4/ahmadmm/fig/illustration.png

The sizes are just approximations.

4) Bill of materials

Create a table with the most important components for your setup.