Robotic Kinematics Research Project

Presenter

ELIJAH R. BOUDREAU

Campus

Fitchburg State University

Sponsor

Soumitra Basu, Department of Engineering Technology, Fitchburg State University

Schedule

Session 2, 11:30 AM - 12:15 PM [Schedule by Time][Poster Grid for Time/Location]

Location

Poster Board A65, Campus Center Auditorium, Row 4 (A61-A80) [Poster Location Map]

Abstract

Robotic Kinematics uses geometric calculations to describe the movement of a robot with multiple linked segments that each have their own degrees of freedom about an axis. These calculations do not take into account the torques, forces, and mechanical error of the real system, so the goal of this project is to capture the difference, or error, between the Kinematic calculations and the actual positioning of a physical robot.

This research project will require the scratch design of a robot system using 3D printed mechanical parts, an Arduino microcontroller and Servo kit, and the development of software to control the robot’s motors. In order to facilitate capturing the positional error of the system, the motor motion will be mapped to a cartesian grid, and the end effector of the robot will be designed to hold a writing instrument. The robot will operate on a grid paper and mark its final position on that grid. The recorded final position can then be compared to the calculated position and an error margin can be found.

Keywords

Robotics, Kinematics, Electronics, Software

Research Area

Engineering

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