Programming a robotic arm

PROGRAMMING A ROBOTIC ARM A robotic arm is a type normally programmable mechanical arm, similar to the functions of a human arm ; this may be the sum total of the mechanism or may be part of a more complex robot. The parts of these manipulators or arms are interconnected through articulated joints that allow both a rotational movement ( such as an articulated robot ) , as a translational linear move.

MATERIALS The robotic arm uses 6 servo motors:

1 servo HITEC HS-815BB (24kg.cm

shoulder)

1 servo HITEC HS-755HB (13kg.cm elbow) 2 servos HITEC HS-311

(3kg.cm articulation up/down and turn 180ยบ)

1 servo Tower pro 996R

(10kg.cm base)

1 micro servo Towe pro

(3kg.cm pin)

DIAGRAM AND CIRCUITS.

MOVEMENTS. The arm has 6 degrees of freedom of movement: a swivel base a servo motor in the "shoulder" a servo motor in the "elbow" two servo motors in the "doll", one to move up and down and one for left and right rotation.

And a sixth servo motor at the handling clamp.

I have made different designs of the various parts, and I present these are the most "accomplished", the result of much "trial and trial." Now it looks like the actual structure of an industrial arm.

The length of the section that goes between the elbow and wrist is almost equal to the length of the "hand" which enables a good balance; and to help I put springs in the elbow to have a good balance of weights and so assist servo motors.

The servo shoulder has the "reinforcement" of a spring when the arm is tilted forward.

SERVO MOTORS. The servo motor has some control circuits and a potentiometer (a variable resistor) that is connected to the central axis of the servo motor. In the figure it can be seen on the right side of the circuit. This potentiometer allows the control circuitry, monitor the current angle of the servo motor. If the shaft is at the correct angle, then the engine is off. If the circuit checks that the angle is not correct, the motor will turn in the right direction until the correct angle. The shaft of the servo is capable of reaching around 180 degrees. Normally, in some reaches 210 degrees, but it varies by manufacturer. A normal servo is used to control an angular motion of between 0 and 180.

THE RESULTS.