72 lines
No EOL
3.8 KiB
Markdown
72 lines
No EOL
3.8 KiB
Markdown
---
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title: "Educational Robot Arm"
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date: 2024-04-12T09:00:00+00:00
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description: Educational Kit for Introductory Robotics
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hero: images/kavar_background.jpg
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author:
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image: /images/sharwin_portrait.jpg
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menu:
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sidebar:
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name: Educational Robot Arm
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identifier: robot-arm-edu
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weight: 7
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tags: ["3D Printing", "Arduino", "C++", "MATLAB"]
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repo: https://github.com/Sharwin24/Robotic-Arm
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---
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An educational kit designed to teach the fundamentals of kinematics and dynamics. The kit is intended to accompany the course ME3460: Robot Dynamics & Control at Northeastern University. The kit is a physical representation of the final project, which is currently done purely through MATLAB simulation.
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## Kit Design
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The robot is a 3-link planar manipulator with 3 degrees of freedom. The end effector is a simple gripper that can grab small objects.
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The entire kit is composed of 3D printed parts, and off-the-shelf hardware/electronics. Students can assemble the kit without any soldering and with minimal tools.
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<div align="center" style="display: flex; flex-wrap: wrap; justify-content: center; gap: 15px;">
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<img src="step_1.png" alt="First Step of Instructions" style="border-radius: 15px; width: 45%;">
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<img src="pcb_instructions.png" alt="PCB Instructions" style="border-radius: 15px; width: 45%;">
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<img src="base_instructions.png" alt="Base Assembly" style="border-radius: 15px; width: 45%;">
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<img src="full_assembly_instructions.png" alt="Full Assembly" style="border-radius: 15px; width: 45%;">
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</div>
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The instructions are laid out in simple steps, akin to LEGO instructions. A custom PCB was developed to simplify the wiring process and off the shelf stepper motors and drivers were used for easy integration with the Arduino microcontroller.
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<div align="center">
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<img src="students_building.png" alt="Students Building Kit" style="border-radius: 15px;">
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</div>
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## Software
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In order to control the robot arm, a custom library was written in C++ to handle the microstepping. The library followed the same technique as the AccelStepper library to enable concurrent motion of multiple motors at a time in addition to applying acceleration and velocity profiles. A custom library meant students could easily write and implement their own motion profiles without having to deal with the hardware specifics.
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```cpp
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void LinkStepperMotor::computeNewPulseInterval() {
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// Acceleration curve is split into 3 parts: acceleration, steady-state, deceleration
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int totalSteps = abs(this->targetPosition - this->previousTargetPosition);
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int stepsRemaining = this->getStepsRemaining();
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int stepsCompleted = totalSteps - stepsRemaining;
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int n1 = totalSteps / 3;
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int n2 = 2 * n1;
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uint16_t speedSPS = this->currentSpeedSPS;
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// Determine which range we are in to apply the correct part of the acceleration curve
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if (stepsCompleted <= n1) {
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// Acceleration
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// a(n) = k * n1 + a0
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// v(n) = 0.5 * k * n^2 + a0 * n + v0
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speedSPS = (0.5f * this->accelerationRate * pow(stepsCompleted, 2)) + (this->initialAcceleration * stepsCompleted) + this->initialSpeedSPS;
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} else if (stepsCompleted >= n1 && stepsCompleted <= n2) {
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// Steady-state
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// a(n) = a_max = k * n1 + a0
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// v(n) = (k * n1 + a0) * n - 0.5 * k * n1^2 + v0
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speedSPS = ((this->accelerationRate * n1 + this->initialAcceleration) * stepsCompleted) - (0.5f * this->accelerationRate * pow(n1, 2)) + this->initialSpeedSPS;
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} else { // (stepsCompleted >= n2)
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// Deceleration
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// a(n) = -k * n + k * n2 + a_max
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// v(n) = -0.5 * k * n^2 + (k * n1 + k * n2 + a0) * n - 0.5 * k * (n1^2 + n2^2) + v0
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speedSPS = (-0.5f * this->accelerationRate * pow(stepsCompleted, 2))
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+ (this->accelerationRate * n1 + this->accelerationRate * n2 + this->initialAcceleration) * stepsCompleted
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- (0.5f * this->accelerationRate * (pow(n1, 2) + pow(n2, 2)))
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+ this->initialSpeedSPS;
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}
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this->setSpeedSPS(speedSPS);
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}
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``` |