This paper focused on the development of low
grade robotic arm for small industries who cannot afford
heavy duty and expensive arm made by most companies.
Most small factories in regions like Africa are in desperate
need of a device to handle repetitive tasks but they cannot
meet up with the purchase and maintenance cost of
companies like KUKA, Fanuc, etc. so they rely on human
labour which is inaccurate and causes body pain for the
workers. In this work, a 5 degree of freedom robotic arm
was developed to solve this problem.
The link of the robotic arm was 3d printed using poly
lactic acid filaments and the ATmega328P AVR
microcontroller was used to control the arm, four metal
gear servo was used to actuate the arm while one servo was
used for the end effector. The critical load for the arm was
established after running the stress analysis for each of the
links. And forward and inverse kinematic equations was
developed to track the position and rotation of the end
effector in 3D space. The arm can work in two modes,
sentry and user mode. A hard switch was provided to
switch from one mode to the other. Sentry mode was
designed for repetitive tasks. User mode allows a controller
to operate the arm using a joystick to control the joints.
Software stress analysis was done using Autodesk inventor
and physical evaluations were conducted and the arm
performed as expected.
Keywords : Robotic Arm, Industrial Robot, Robotics, Forward Kinematics, Inverse Kinematics, Automation.