LYNX Robot Arm

LYNX Robot ArmRobtica Aplicada

1. INTRODUCTIONThe application of robotic systems has allowed the developed countries to achieve production levels and quality never seen before. The industrial robots for object manipulation tasks and tools are taking humanoid form to be friendlier to your coworkers. Robots have become more than a tool; now do the heavy work of human in the industry and other sectors.For example, almost all industrial enterprises need space to store raw materials and finished products. The higher the storage work more justified is the use of automated systems that classify and store these items. These systems are based on a three-dimensional structure of shelves, in which the objects are placed following a pattern classification. Each of the locations is stored in a computer system, which is the ordering of certain mobile robots insertion or removal of objects with a simple command that contains the code for the location of the material.2. OBJECTIVES2.1. General Objective Controlling the LYNX Robot a manner that is able to write letters.2.2. Specific Objectives Get the inverse kinematic equations of the LYNX Robot through the Denavit Hartenberg matrix. Using Arduino programmable board for servo control of the LYNX Robot.

3. THEORY3.1. LYNX Robot ArmThe robot arm is a hobbyist arm called the Lynx 6. It is controlled with two modes, position mode and orientation mode. Position mode controls the arm's position while orientation mode controls the gripper. Robot arm Lynx6 has five joints (base, shoulder, elbow, wrist movement and wrist rotation) besides a forceps. The mechanical design allows rapid and accuracy movement thanks to the coupled servomotors. By its functionalities, it is a suitable system of low cost, small and recommended for practicing in laboratories.

Figure 1. LYNX arm parts3.2. Denavit Hartenberg ParametersThe relation between the joint and task a space of the robot is done with the help of geometric model called DenavitHartenberg parameters(also called DH parameters). There are four parameters associated with a particular convention for attaching reference frames to the links of a spatialkinematic chain, orrobot manipulator. The most widely used notation for the geometric modeling of robots is Denavit-Hartenberg (DH) notation and is generally provided by the robot manufacturers in the form of robot specifications. The travel from the base frame to the end-effector frame is achieved by moving across two consecutive frames placed at the joints. The set of four parameters relates the transformation between Frame to Frame by and , as show in Figure 2.

Figure 2. DH parameters and Frames attachedTable 1. Symbolic notation used to describe the DH parameters with its definition.

3.3. Arduino Servo ControlTo control the robot servos Arduino programmable card is used. The card has a library for servos; with this library robot control is greatly facilitated. This library allows an Arduino board to control RC (hobby) servo motors. Servos have integrated gears and a shaft that can be precisely controlled. Standard servos allow the shaft to be positioned at various angles, usually between 0 and 180 degrees. Continuous rotation servos allow the rotation of the shaft to be set to various speeds.The following code, allows control of a servo motor in speed and position.

Figure 3. Code for Arduino to control servo motor.

Figure 4. Electrical Diagram for a single servomotor control.4. BIBLIOGRAPHY

Annimo. (2012, July 02). The robotics industry. Retrieved November 04, 2014, from http://www.horizonteminero.com/articulos/atecnologia/1089-la-robotica-en-la-industria.htmlArduino. (n.d.). Servo Library. Retrieved November 05, 2014, from http://arduino.cc/en/pmwiki.php?n=Reference/ServoDenavit, J. (1951). A kinematic notation for lower-pair mechanisms based on matrices. ASME Journal of Applied Mechanics.Sanguino, M. (n.d.). Lynx Robot. Retrieved November 05, 2014, from http://www.uhu.es/tomas.mateo/investigacion/3DRAS.htmTabares, J. (2011, August 14). Robtica y su funcionamiento en la industria. Retrieved November 04, 2014, from http://es.slideshare.net/JulianTabares07/robtica-y-su-funcionamiento-en-la-industria-8847981Udai, A. D. (2013, July). Identification of Denavit-Hartenberg Parameters of an Industrial Robot.Wikipedia. (n.d.). DenavitHartenberg parameters. Retrieved November 05, 2014, from http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

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