Mechanical Design of a Novel 4DOF Serial Manipulator

Bahador Beigomi, Dan Zhang
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Abstract

In this paper, a strategy to accomplish small stone carving operations using a four-degree-of-freedom (DOF) robotic arm is presented. This research work tries to design a novel robotic arm that is small enough that can be mounted on the table and create artwork by carving and shaping stones. In the past two decades, there were many different designs for the robotic arm from simple 3DoF serial manipulator to advanced hybrid one, but the main thing in those designs was that they have been designed in order to use on an industrial scale. In this design what we have considered as a priority is to create a manipulator that can be mounted on a small table and also could be used by nonprofessionals. The designed robot, CarveARM, has a unique End Effector (EE) which is rotating around itself so fast to carve a stone precisely. At first, by gathering the link transformation matrices between each joint and also using the Denavit-Hartenberg (DH) notations the CarveARM manipulator coordinate transformation is completely described. We have also used some robotics methods to achieve some particular tasks such as solving the forward kinematics description, inverse kinematics problem, workspace evaluation, and dexterity analysis. Besides the position control of EE, we also control the final angle of EE to handle the stone carving procedure more accurately.
一种新型四自由度串联机械手的机械设计
提出了一种利用四自由度机械臂完成小型石雕作业的策略。这项研究工作试图设计一种新颖的机械臂,它足够小,可以安装在桌子上,通过雕刻和塑造石头来创作艺术品。在过去的二十年里,有许多不同的机械臂设计,从简单的三维连续机械臂到先进的混合机械臂,但这些设计的主要目的是为了在工业规模上使用。在这个设计中,我们优先考虑的是创造一个可以安装在小桌子上的机械手,也可以被非专业人士使用。这款名为CarveARM的机器人有一个独特的末端执行器(EE),它可以围绕自身快速旋转,从而精确地雕刻石头。首先,通过收集每个关节之间的连杆变换矩阵,并使用Denavit-Hartenberg (DH)符号,完整地描述了CarveARM机械手的坐标变换。我们还使用一些机器人方法来实现一些特定的任务,如求解正运动学描述、逆运动学问题、工作空间评估和灵巧性分析。除了EE的位置控制,我们还控制EE的最终角度,以更准确地处理石雕过程。
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