Robot manipulators are commonly used in today's industrial applications. In this report a 3D-printed anthropomorphic robot arm with three degrees of freedom was constructed. The robot arm operates with the use of a microcontroller and servomotors. Through utilizing the Denavit-Hartenberg method and inverse kinematics the robot’s end effector is able to reach a specified point in space. This report has found that the accuracy of the constructed robotic manipulator reaching a specific coordinate depends on the distance of the end effector from its base. The relative error of the constructed robot’s positioning falls within 1.3- 6.9%, with a 99% confidence. ; Robotmanipulatorer är idag vanligt förekommande i industriella applikationer. I denna rapport konstrueras en 3D-printad antropomorf robotarm med tre frihetsgrader. Robotarmen styrs med hjälp av en mikrokontroller och servomotorer. Baserat på DenavitHartenberg metoden och inverskinematik kan robotens ändpunkt ta sig till en specificerad punkt i rummet. Vidare har rapporten funnit att den konstruerade robotens exakthet beror på avståndet emellan robotens manipulator och dess bas. Det relativa felet av robotens positionering ligger inom intervallet 1.3-6.9% med en 99% konfidens.


    Access

    Download


    Export, share and cite



    Title :

    Anthropomorphic Robot Arm ; Antropomorf Robotarm


    Contributors:

    Publication date :

    2020-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Wireless Control of a Robotic Arm ; Trådlös styrning av en robotarm

    Issa, Alan / Andreanidis, Christos | BASE | 2021

    Free access

    Anthropomorphic Flute Playing Robot

    Takanishi, A. | British Library Online Contents | 1998


    Development of anthropomorphic flutist robot

    Takanishi, A. | British Library Online Contents | 1996


    Anthropomorphic Robot Hand And Teaching Glove

    Engler, Charles D., Jr. | NTRS | 1991


    Autonomous Locomotion and Navigation of Anthropomorphic Robot

    Titov, Alexey / Markov, Alexey / Skorikov, Andrey et al. | Springer Verlag | 2017