Reconfigurable Articulated Robot Using Android Mobile Device
Reconfigurable Articulated Robot Using Android Mobile Device
复制标题
使用 Android 移动设备的可重构铰接机器人
DOI：
10.1155/2021/6695198
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
M. Bashir
中科院分区：
文献类型：
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作者：
A. Rajpar;Ahmad. E. Eladwi;Imran Ali;M. Bashir
本文主要研究了一种可重构三自由度拾取摆放机器人的设计与开发。为了实现该系统，开发了一个Android平台，用于使用无线蓝牙技术对关节机器人进行手动控制。该应用程序允许用户根据集成系统的要求，通过用户友好的显示来手动重新配置机器人。该铰接式机器人由四个电机组成，其中三个用于定位和定位，最终用于执行拾取和放置任务。Arduino Un R3板用于通过脉宽调制方法控制链节的移动。我们介绍了一套方便组合的运动学和动力学数学模型，用于定位机器人的手臂，并在我们的结果和讨论部分计算和报告移动每个关节所需的扭矩。
This paper focuses on the design and development of a reconfigurable three-degree-of-freedom articulated robot for conducting pick-and-place tasks. To implement the system, an Android platform for the manual control of an articulated robot using wireless Bluetooth technology was developed. This application allows the user to manually reconfigure the robot following the requirements of the integrated system via a user-friendly display. The articulated robot comprises four motors, three of which are used for positioning and orientation and finally used to carry out the pick-and-place task. An Arduino Un R3 board is used to control the movement of the links via a pulse width modulation method. We introduce a set of conveniently composed kinematic and dynamic mathematical models for positioning the robot’s arms and, in our results and discussion section, calculate and report the torque required to move each joint.