Research Article
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Kinematic Analysis of Open-Source 5 DoF Robot Arm

Year 2021, Volume: 2 Issue: 1, 9 - 18, 15.06.2021

Abstract

Control of the robot is an important place for the use of robot technology. The use of robots is continually extending. Today, the usage of robots is at most 5% all over the world in the industry. According to The International Federation of Robotics (IFR) data, this usage rate is estimated to be more than 2 million in the world between 2018 and 2021. One of the applications is the usage of robotic technology such as office environment, military duties, hospital operations, etc. Moreover, robots are rather invaluable in complicated or hazardous processes like toxic materials, neutralizing explosives, or performing certain specific repetitive tasks in industries, instead of human interference. Sensors play a significant role in performing the functions of robots in all these processes. There was mentioned the importance of using open-source robot arms with professional features and industrial scale in terms of decreasing workload of hospital staff. Today, the priority is human health, and how significant any system developed in the health system is more understood especially in the pandemic process. For this reason, the open-source robot arm is analyzed and it will not be an issue such as copyright, it can be printed from 3D printers and it saves more budget. Additionally, robot arm kinematic analysis was done to define the workspace.

References

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  • [23] J. Denavit and R.S. Hartenberg, “A kinematic Notation for Lower- Pair Mechanism Based on Matrices” ASME Journal of Applied Mechanics, 215-221, 1955
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  • [25] https://github.com/SurreyEARS/BCN3D-Moveo last visited: 20/06/2018
  • [26] WL. Xiao, S. Henning, L. Torsten, et al., “Closed-form inverse kinematics of 6R milling robot with singularity avoidance” Prod Eng Devel 5:103–110, 2011
  • [27] Y. Wu, LH. Cheng GF Fan, et al. “Inverse kinematics solution and optimization of 6-DOF handling robot” Appl Mech Mater 635–637:1355–1359, 2014
  • [28] S. Guo, HW. Li, JC Ji, ZF. Ming, “Kinematic analysis and simulation of a new-type robot with special structure” Adv. Manuf. 2:295–302 DOI 10.1007/s40436-014-0094-x, 2014
Year 2021, Volume: 2 Issue: 1, 9 - 18, 15.06.2021

Abstract

References

  • [1] R. Gautam, A. Gedam, A Zade Mahawadiwar “A, Review on Development of Industrial Robotic Arm”, International Research Journal of Engineering and Technology, Volume: 04 Issue: 03 | Mar -2017
  • [2] U. Schneider, JRD. Posada, et al ., “Automatic pose optimization for robotic processes”, Robotics and Automation (ICRA), IEEE International Conference on. IEEE, 2015.
  • [3] A positioning paper by the International Federation of Robotics, Robots and the Workplace of the Future https://ifr.org/downloads/papers/IFR_Robots_and_the_Workplace_of_the_Future_Positioning_Paper.pdf
  • [4] NA. Radford, P. Strawser, K. Hambuchen, et al., Valkyrie: “NASA’s first bipedal humanoid robot”, J. Field Robot. 32, 397–419, DOI:10.1002/rob.21560, 2015
  • [5] J. Hurst, “Walk this way: to be useful around people, robots need to learn how to move like we do”, IEEE Spectr 56, 30–51, DOI:10.1109/MSPEC. 2019.8651932, 2019
  • [6] G. Wagner, and H. Choset, “Subdimensional expansion for multirobot path planning. Artificial Intelligence”, 219, 1–46. https://doi. org/10.1016/j.artint.2014.11.001, 2013
  • [7] M. Gharbi, J. Cortés, and T. Siméon, “Roadmap composition for multi-arm systems path planning”. In: IEEE/RSJ international conference on intelligent robots and systems (pp. 2471–2476). https:// doi.org/10.1109/IROS.2009.5354415, 2009
  • [8] T. Asfour, J. Schill, H. Peters, et al., “ARMAR-4: a 63 DOF torque controlled humanoid robot”, in: Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots, Atlanta, USA, pp. 390–396, 2013
  • [9] J. Englsberger, A. Werner, C. Ott, et al., “Overview of the torque-controlled humanoid robot Toro”, in: Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, Madrid, ES, pp. 916–923, 2014
  • [10] RK. Reynolds, AP. Advincula, “Robot-assisted laparoscopic hysterectomy: technique and initial experience”. Am J Surg 191:555–560, 2006
  • [11] TM. Beste, KH. Nelson, JA. Daucher “Total laparoscopic hysterectomy utilizing a robotic surgical system”. J Soc Laparoendosc Surg 9:13–15, 2005
  • [12] C. Diaz-Arrastia, C. Jurnalov, G. Gomez, Townsend CJr “Laparoscopic hysterectomy using a computer-enhanced surgical robot.” Surg Endoscopy 16:1271–1273, 2002
  • [13] GS. Guthart, J Jr. Salisbury “The intuitive telesurgery system: overview and application.” In: Robotics and automation, Proceedings. ICRA ‘00. IEEE international conference on, vol. 1. pp 618–621, 2000
  • [14] HM. Yip, P. Li, D. Navarro-Alarcon, YH Liu, “Towards developing a robot assistant for uterus positioning during hysterectomy: system design and experiments”; Robotics and Biomimetics, 1:9 DOI 10.1186/s40638-014-0009-0, 2014
  • [15] online: https://github.com/BCN3D last visited:01/03/2020
  • [16] https://www.microchip.com/wwwproducts/en/ATmega2560
  • [17] http://evrodekor34.ru/en/mks-gen-v-1-4-opisanie-podklyuchenie-elektroniki-k-plate-mks-gen-v1-4-podklyuchenie.html
  • [18] online: http://www.ribu.at/PDF/Tb6560.pdf
  • [19] online: http://www.cncbotto.com/controller.pdf
  • [20] https://www.makerguides.com/tb6560-stepper-motor-driver-arduino-tutorial/
  • [21] http://www.t-es-t.hu/download/microchip/an907a.pdf
  • [22] S. Kucuk and Z. Bingul, “The Inverse kinematics solutions of industrial robot manipulators”, IEEE Conferance on Mechatronics, pages 274-279, 2004
  • [23] J. Denavit and R.S. Hartenberg, “A kinematic Notation for Lower- Pair Mechanism Based on Matrices” ASME Journal of Applied Mechanics, 215-221, 1955
  • [24] SR. Kuo, YB. Yang, “A rigid-body-qualified plate theory for the nonlinear analysis of structures involving torsional actions” Eng Struct 47:2–15, 2013
  • [25] https://github.com/SurreyEARS/BCN3D-Moveo last visited: 20/06/2018
  • [26] WL. Xiao, S. Henning, L. Torsten, et al., “Closed-form inverse kinematics of 6R milling robot with singularity avoidance” Prod Eng Devel 5:103–110, 2011
  • [27] Y. Wu, LH. Cheng GF Fan, et al. “Inverse kinematics solution and optimization of 6-DOF handling robot” Appl Mech Mater 635–637:1355–1359, 2014
  • [28] S. Guo, HW. Li, JC Ji, ZF. Ming, “Kinematic analysis and simulation of a new-type robot with special structure” Adv. Manuf. 2:295–302 DOI 10.1007/s40436-014-0094-x, 2014
There are 28 citations in total.

Details

Primary Language English
Subjects Software Architecture
Journal Section Research Articles
Authors

Mehmet Gül 0000-0002-4819-4743

Publication Date June 15, 2021
Submission Date December 18, 2020
Published in Issue Year 2021 Volume: 2 Issue: 1

Cite

APA Gül, M. (2021). Kinematic Analysis of Open-Source 5 DoF Robot Arm. Journal of Soft Computing and Artificial Intelligence, 2(1), 9-18.
AMA Gül M. Kinematic Analysis of Open-Source 5 DoF Robot Arm. JSCAI. June 2021;2(1):9-18.
Chicago Gül, Mehmet. “Kinematic Analysis of Open-Source 5 DoF Robot Arm”. Journal of Soft Computing and Artificial Intelligence 2, no. 1 (June 2021): 9-18.
EndNote Gül M (June 1, 2021) Kinematic Analysis of Open-Source 5 DoF Robot Arm. Journal of Soft Computing and Artificial Intelligence 2 1 9–18.
IEEE M. Gül, “Kinematic Analysis of Open-Source 5 DoF Robot Arm”, JSCAI, vol. 2, no. 1, pp. 9–18, 2021.
ISNAD Gül, Mehmet. “Kinematic Analysis of Open-Source 5 DoF Robot Arm”. Journal of Soft Computing and Artificial Intelligence 2/1 (June 2021), 9-18.
JAMA Gül M. Kinematic Analysis of Open-Source 5 DoF Robot Arm. JSCAI. 2021;2:9–18.
MLA Gül, Mehmet. “Kinematic Analysis of Open-Source 5 DoF Robot Arm”. Journal of Soft Computing and Artificial Intelligence, vol. 2, no. 1, 2021, pp. 9-18.
Vancouver Gül M. Kinematic Analysis of Open-Source 5 DoF Robot Arm. JSCAI. 2021;2(1):9-18.