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The comparison of 3-DOF and 5-DOF pick and place robot arms

Sulong, Muhammad Suhaimi and Ponniran, Asmarashid and Tomari, Md. Razali and Joret, Ariffuddin and Munir, Handy Ali The comparison of 3-DOF and 5-DOF pick and place robot arms. In: 1st International Conference on Control, Instrumentation and Mechatronics Engineering 2007 (CIM 07), 28-29 Mei 2007, Johor Bahru, Malaysia.

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Abstract

The pick and place robot arms are well used in many industrial applications especially in material handling and simple assembly applications for manufacturing operations. In many cases, Programmable Controllers (PC) is used to control the robot and the peripheral equipment. In this work; two prototypes of 3-DOF and 5-DOF robot arms have been developed. The comparison of both 3-DOF and 5-DOF robot arms are the main focus of this study. The both robot arms are fuced using open loop control method and forward kinematics paradigm. Only one movement parameter of the robot arm has been considered in this work and the parameter is degree of fieedom (DOF) of the robot. The operations of both robot arms are controlled by using Peripheral Interface Controller (PIC) microcontroller and the motor used to power every degree offieedom is servo DC motor. The result indicates that 3-DOF robot arm has more several advantages than 5-DOF robot arm and some of the advantages are focused on operation time per cycle, practicality for simple application, dzflculty level for movement controlling and cost efSective for body design. For 5-DOF robot arm, the main constraint is dzflcult to control during movement operation. Therefore, the task of picking up a part and placing it at specfled destination by using 3-DOF robot arm are more reliable, eficient and easy to control and design.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > T Technology (General)
Depositing User: Normajihan Abd. Rahman
Date Deposited: 13 Aug 2018 03:40
Last Modified: 13 Aug 2018 03:40
URI: http://eprints.uthm.edu.my/id/eprint/7952
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