Development of a five-bar linkage parallel robot | |
| Author | Abeysekara, Agampodi Yasitha |
| Call Number | AIT Caps. Proj. no.ME-16-31 |
| Subject(s) | Parallel robots--Design Robots--Control systems Robots--Kinematics |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-16-31 |
| Abstract | Parallel Manipulators (Robots) are widely used in the industries these days for various types of applications involving sorting, pick and placing in the Manufacturing Industry. Parallel Robots are unique and very different to Serial Robots. The following study mainly focuses on effective position controlling within a confined known given workspace. The goal of this project is to build a parallel robot which can draw with the use of a pen connected to its end effector. Also to understand how parallel robots be- have, work and can be controlled compared with serial robots. With use of stepper motors; using micro stepping and interrupt techniques for the motor to have a higher resolution and to move in sync, the position is controlled through the use of inverse kinematics, the robot is able to know the angles to move and to travel to any given point on the workspace. The later stages involved making a GUI and serial communicating with the Arduino. Allow- ing the user to draw a circle or a straight-line. |
| Year | 2016 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-16-31 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Than Lin; |
| Examination Committee(s) | Bohez, Erik Lucas Julien ;Kriangkrai Waiyagan; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2016 |