Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Łaski, P.; Smykowski, Mateusz

doi:10.3390/s21237962

Cited by 3 publications

(1 citation statement)

References 26 publications

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“…ESP32 controls the robot's motion based on data received through Wi-Fi from an HMI interface deployed on a smart phone. In [31], the STM 32F407VGT6 microcontroller was chosen to control a 4-DOF parallel robot arm. The STM32 microcontroller created the PWM signal to control the speed and direction of DC motors.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Duy

2024

FME Transactions

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To develop a cost-efficient robot arm for a typical pick and place application that can applied in industry, this paper deployed a programmable logic controller (PLC) to control the rotation motion of the robot joints. The main tasks of the PLC controller are to calculate the kinematics, create high-speed pulse outputs for stepper motors, and implement sequence operations for a certain application. Functions are written into subprogram segments. When needed, the main program only turns on the corresponding flag for executing the subprogram. Using the pre-written subprograms, a logical sequence to implement the Pick and Place application is easily implemented and described in this paper. The PLC program is developed to control a SCARA robot with three rotation joins. Stepper motors drive the robot joints. The Delta DVPSV2 PLC is utilized to design the robot controller. This PLC series has four high-speed pulse output pins, which is suitable for this project. Synchronous motion of stepper motors is easily performed using high-speed pulse output commands built into the PLC program. Experimental results of robot arm control have demonstrated the efficiency and accuracy of the developed program. The robot arm's forward and inverse kinematics problems are verified using the simulator on the software. The robot's joints move synchronously as required to perform pick-and-place applications.

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Section: Introductionmentioning

confidence: 99%

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Duy

2024

FME Transactions

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Kinematics and compliance analyses of a 3T1R parallel manipulator with rotational symmetry

Tsai,

Cheng,

Liao

et al. 2024

Mechanism and Machine Theory

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The Kinematics of a Bipod R2RR Coupling between Two Non-Coplanar Shafts

et al. 2022

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The paper presents a new solution for motion transmission between two shafts with non-intersecting axes. The structural considerations fundament the existence in the structure of the mechanism of three revolute pairs and a bipod contact. Compared to classical solutions, where linkages with cylindrical pairs are used, our solution proposes a kinematical chain also containing higher pairs. Due to the presence of a higher pair, the transmission is much simpler, the number of elements decreases, and as a consequence, the kinematical study is straightforward. Regardless, the classical analysis of linkages cannot be applied because of the presence of the higher pair. For the proposed spatial coupling, the transmission ratio is expressed as a function of constructive parameters. The positional analysis of the mechanism cannot be performed using the Hartenberg–Denavit method due to the presence of a bipod contact, and instead, the geometrical conditions of existence for the bipod contact are applied. The Hartenberg–Denavit method requires the replacement of the bipodic coupling with a kinematic linkage with cylindrical (revolute and prismatic) pairs, resulting in complicated analytical calculus. To avoid this aspect, the geometrical conditions required by the bipod coupling were expressed in vector form, and thus, the calculus is significantly reduced. . The kinematical solution for the proposed transmission can be obtained in two ways: first, by considering the equivalent transmission containing only cylindrical pairs and applying the classical analysis methods; second, by directly expressing the condition of definition for the higher pairs (bipodic pair) in vector form. The last method arrives at a simpler solution for which analytical relations for the positional parameters are obtained, with one exception where numerical calculus is needed (but the precision of this parameter is controlled). The analytical kinematics results show two possibilities of building the actual mechanism with the same constructive parameters. The rotation motions from the revolute pairs, internal and driven, and the motions from the bipod joint were obtained through numerical methods since the equations are very intricate and cannot be solved analytically. The excellent agreement validates the theoretical solutions obtained and the possibility of applying such mechanisms in technical applications. The constructive solution exemplified here is simple and robust.

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Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot

Cited by 3 publications

References 26 publications

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Design and development of a cost efficiency robot arm with a PLC-based robot controller

Kinematics and compliance analyses of a 3T1R parallel manipulator with rotational symmetry

The Kinematics of a Bipod R2RR Coupling between Two Non-Coplanar Shafts

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