Prototype of 3-DOF Pick and Place Arm Robot

Abstract

What we are witnessing today in terms of acceleration in manufacturing and production processes in factories would not have taken place without relying on robotic arms to accomplish routine work with better accuracy, fewer errors and a higher speed compared to the human element and because conducting experiments and modifying ready-made robots that operate on production lines and testing new software on them is expensive and not available in many cases, the idea stemmed from here in creating a prototype for a robotic arm that enables developers and researchers to test and develop their own software before adopting it, and this robot was characterized by ease of use and low cost compared to what is in the market with the possibility of controlling it in more than one way, as this research shows the method of designing and manufacturing a robotic arm of the type 3- DOF (3-Revolute joints) used to capture Various parts. Electromagnets of end effect or were used to pick up the pieces. This robotic arm was tested in an integrated environment using the MATLAB - Simulink program under different conditions, the first of which depends on the forward kinematics and the second mode of operation depends on the inverse kinematics, while the third mode was using the two types of Trajectory Planning (LSPB –Conic), Practical experiments of this robotic arm have shown high accuracy in performance, quick response in executing orders, and avoiding falling into Singularities due to setting mechanical and software restrictions for the robot.