Acta Mechanica Slovaca 2016, 20(3):50-56 | DOI: 10.21496/ams.2016.023

Kinematical investigation and regulation of a 4DOF model robot

László Rónai1,*, Tamás Szabó2
1 Robert Bosch Department of Mechatronics, University of Miskolc, H-3515 Miskolc-Egyetemváros, Hungary
2 Robert Bosch Department of Mechatronics, University of Miskolc, H-3515 Miskolc-Egyetemváros, Hungary

Kinematical investigation and automation of a 4 DOF model robot is discussed in this paper. The well-known Denavit-Hartenberg (DH) parameters are used to prescribe the robot forward- and inverse kinematics. Analytical solution of the inverse kinematical problem is derived by DH homogenous transformation matrix, which gives the relation between the base and the end effector. The article determines the singular positions of the robot. Potential meter and trimmers are attached to the joints of the model robot. A voltage regulator and a controller board of the gripper are designed and built, furthermore an Arduino UNO platform, with a motor shield are used to control the model robot. The main program is written in C code.

Keywords: Robot; denavit-Hartenberg parameters; singularity; inverse kinematics; Arduino; microcontroller

Published: October 31, 2016  Show citation

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Rónai, L., & Szabó, T. (2016). Kinematical investigation and regulation of a 4DOF model robot. Acta Mechanica Slovaca, 20(3), 50-56. doi: 10.21496/ams.2016.023
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