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Robotic Arm

Robotic Arm. Designing a robotic arm using 3D printed components Floris Hemmelder Remi Vinel Andrei Opris Joachim Mosseng. Conclusions. Research. Actuation & Control. The process. Assignment. 1. PART ONE: ASSIGNMENT. ORDER AND INSERT MOTORS. CREATE A 3D-PRINTED ARM.

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Robotic Arm

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  1. Robotic Arm Designing a robotic arm using 3D printed components Floris Hemmelder Remi Vinel Andrei Opris Joachim Mosseng

  2. Conclusions Research Actuation & Control The process Assignment

  3. 1 PART ONE: ASSIGNMENT

  4. ORDER AND INSERT MOTORS CREATE A 3D-PRINTED ARM INTEGRATE ARDUINO AND POWER SUPPLY

  5. 2 PART TWO RESEARCH

  6. UP DOF YAW BACK LEFT PITCH DEGREES OF FREEDOM (DOF) 3 MAIN DOF 1 EXTRA DOF ROLL RIGHT FORWARD DOWN

  7. 1 2 • 4 DOF • Gripper • Plastic & aluminum Finding a suitable robot • 4 DOF • Gripper • Plastic only • 4 DOF • Gripper • Plastic & aluminum Needs 4 DOF Fully 3D-printable Must fit on printer bed • 4 DOF • Gripper • Plastic & aluminum 3 4

  8. How a 3D printer Works

  9. 3 PART THREE The process: assembly & printing

  10. Printing process… …the result

  11. A failed part

  12. The bearing system in the base gives the robot the ability to rotate.

  13. Assembly

  14. The assembly of the bearing base, allowing rotation of the robot

  15. Strucutal Adjustments From a CADIA document to a heavy base-support

  16. Robot fully assembled

  17. 4 PART FOUR Actuation and controll

  18. Actuation and Control Hardware : 3 x Stepper motors NEMA 17 1 x Servo motor SG90 1 x Power Supply  12 V 15 a 1 x Arduino Mega2560 board or UNO 1 x CNC Arduino Shield Wires Software : ARDUINO IDE coding software Universal G-code Sender

  19. ARDUINO - 2 setups - Classic build – Arduino UNO New build – Arduino Mega2560 Solved compatibility issue between Mega2560 and CNC shield

  20. Internet of Things capabilities • 3 sensors • ArduinoWeMos D1R1 • Blynk app

  21. IoT –> BLYNK SMARTPHONE SENSORS DHT 22 SW-420 HC-SR04 Internet of Things

  22. Contribution to IoT development * IoT case study conducted by ThingWorx ~50 billion devices 2020 2018 ~20 billion devices

  23. 5 PART FIVE Conclusions

  24. The working Robotic Arm with actuation

  25. THANK YOU ?

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