Abstract
This paper represents a Human Machine Interface (HMI) design to control a 3 DoF robot manipulator. This manipulator has two parallelograms to make the moving platform always parallel to the ground. We used inverse kinematic analysis of the robot manipulator to control the end point location. Inverse kinematic results are verified using design parameters and end effector location. According to our algorithm, user defines the end point location from HMI, and then program solves inverse kinematics of the robot manipulator. The angles are sent to Arduino microcontroller to set the position of the servo motors. Using this HMI, the user picks and places the object in real time. The user can also give command to draw linear, circular and rectangular paths on the HMI.
Highlights
The world industry has developed rapidly since the beginning of the first industrial revolution
Huang et al [1] designed and synthesized a two DoF parallel robot manipulator for pick-and-place operations. This parallel manipulator consists of two parallelograms to make moving platform always parallel to the ground link
We developed a HMI for a 3 DoF robot manipulator which was previously investigated 2 DoF kinematic structures in [1,4,5,6,7]
Summary
The world industry has developed rapidly since the beginning of the first industrial revolution. Huang et al [1] designed and synthesized a two DoF parallel robot manipulator for pick-and-place operations. This parallel manipulator consists of two parallelograms to make moving platform always parallel to the ground link. Other two DoF parallel manipulator structure using two sliding joint is researched by Xin-Jun Liu et al [3]. Well shaped workspace optimization of two DoF parallel robot manipulator is carried out by designing link parameters in study of Huang et al [5]. The interface redraws the manipulator links for each end effector position and robot manipulator moves simultaneously. Our interface, one can determine the path of the end effector and make pick-and-place operations
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