The Use of Low-Budget Self-Assembly Sets for Research and Robotics Education

Open access

Abstract

The article presents the possibilities of using easily accessible and inexpensive educational sets in scientific research and the process of robotics education. Such kits allow the exploration of theoretical and practical knowledge taking into account aspects of engineering, such as: mechanics, drive systems, sensor systems, control and programming of robots. Models of robots built from inexpensive components can also be used to test new solutions in the field of construction or control algorithms before they are used in real applications. As an example, the model of the palletizing manipulator for self-assembly was shown, the control of which was based on the Arduino Uno controller, while the drives were implemented using low-cost hobby-grade servos. For the kinematic structure of this manipulator, the forward and inverse kinematics task for the position has been discussed. This constituted the basis for the development of a manual control algorithm implemented in the controller – using a joystick and programmed – based on the data sent to the controller using serial communication from a PC. The article presents the results of the computer simulation of the manipulator kinematics, the hardware and software implementation of the robot model and the effects of its operation. The possibility of expanding the control system with additional elements to increase its functionality was indicated.

[1] World Robotics – Industrial Robots 2017, Report of International Federation of Robotics – Statistical Department. Frankfurt/Main, Sep. 2017.

[4] M. Abu Qassem, I.M. Abuhadrous, H. Elaydi. “Modeling and Simulation of 5 DOF educational robot arm”, in Proc. of 2nd International Conference on Advanced Computer Control (ICACC), vol. 5, 2010, pp. 569–574, DOI 10.1109/ICACC.2010.5487136.

[5] B.E. Byambasuren, D. Kim, M. Oyun-Erdene, C. Bold, J. Yura. “Inspection robot based mobile sensing and power line tracking for smart grid”. Sensors, vol. 16, iss. 2, no. 250, 2016, pp. 1-14, DOI:10.3390/s16020250.

[6] M. Górska, M. Olszewski. “Brain-computer interface in the task of mobile robot control”. PAR magazine, vol. 19, no. 3, 2015, pp. 15-24, DOI: 10.14313/PAR_217/15.

[7] M. Leba, E. Pop. “Articulated robotic arm simulation and control”. Annals of the University of Petrosani, Mechanical Engineering, no. 8, 2006, pp. 181-188.

[8] K. Murawski, J. Chudzikiewicz, J. Turczyn. „Mobilny robot edukacyjny KMURAW-3 − rozwiązania techniczne sprzętu i oprogramowania”. Biuletyn Instytutu Automatyki i Robotyki, nr 21, 2004, pp. 31-44.

[9] R. Neerparaj, G.B. Palzor, P. Udit. “Remote learning: android operated educational robot arm with 6 DOF”. International Journal of Electrical, Electronics and Data Communication, vol. 2, iss. 11, 2014, pp. 58-61.

[10] D. Rivas, M. Alvarez, P. Velasco, J. Mamarandi, J.L. Carrillo-Medina, V. Bautista, O. Galarza, P. Reyes, M. Erazo, M. Pérez, M. Huerta. “BRACON: Control system for a robotic arm with 6 degrees of freedom for education systems”, in Proc. of the 6th International Conference on Automation, Robotics and Applications, Feb 17-19, 2015, Queenstown, New Zealand, pp. 358-363.

[11] M. Węgierek, B. Świstak, T. Winiarski. „Modularized environment for Line Follower robots”. PAR magazine, vol. 19, no. 3, 2015, pp. 61-66, DOI:10.14313/PAR_217/61.

[12] https://mageek.com.pl/ [Apr. 26, 2018].

[13] J.J. Craig: Introduction to robotics: mechanics and control. Pearson Education International, 2005.

[14] S. Kucuk, Z. Bingul. “Robot Kinematics: Forward and Inverse Kinematics”, in Industrial-Robotics-Theory- Modelling-Control, S. Cubero (ed.), ARS/PLV, 2006, pp. 117-148.

[15] Morecki, J. Knapczyk (red.): Podstawy robotyki. Teoria i elementy manipulatorów i robotów. WNT, 1999.

[16] https://www.arduino.cc [Apr. 26, 2018].

Journal Information

Metrics

All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 82 82 22
PDF Downloads 96 96 19