Constructing a Robot Arm

by teun

4.9K2912

Intro: Constructing a Robot Arm

Hi everybody

For my bachelors assignment for Industrial Design Engineering at the University of Twente, I looked at the construction of robotic arms. More specifically, I looked at the relation between components and their composition on desired performance and cost of pick&place robotic arms.

The paper is basically a large instruction set of information needed to build a robot arm, complete with reasoning to why certain design options are better than others.

To test all this information, I designed, build and programmed the robotic arm, and put it through some tests.
I attached my entire project, complete with solidworks&stl models of the arm.

For this paper I looked at
-how motors work
-comparison between stepper and servo motors
-which motor to choose when
-formulas for sizing the motor torque
-types of bearings
-what bearing is best suited for what condition
-formulas for bearing impact on accuracy
-possible power transmissions
-type of frame
-much more small stuff that is also important

Starting this project I didn't know the first thing about robotics, so don't be afraid to try. You will either build a succesful robot arm or learn a lot from the mistakes you made (or both in my case).


I hope this may help some of you in building your own robotic arms!
If you have any questions or remarks, feel free to post them below.

STEP 1:

4 Comments

g3bolintiamdanica 7 months ago

Can we use this design for our project and make this as reference?

teun 7 months ago

Yes, I'm happy my old project can be of use to you.
A design change I'd suggest is making the arms lighter and sturdier in the perpendicular direction. Also, I think there are 3D printed hinges available that have no/little backlash, low friction, and can handle loads. Maybe connect those to a bent U profile from plastic sheet. This could save a lot of build time.

Robotarmman42 2 years ago

Ha Teun,
Wij zouden graag je robot willen proberen te bouwen. We hebben de beschikking over een laser, servo's en we hebben al eerder iets gedaan met een arduino. Bedankt voor de uitgebreide documentatie, super gaaf. Heb je misschien voor ons ook de elektrische schema's?
Groet,
Roeland

Swansong 7 years ago

It looks neat! I hope you get a good grade :)