标签归档:机械臂

Light Painting with 3D Printed Robotic Arm

Project Goal

The purpose of this project is to design, simulate, print, construct, program and utilize a 5 DOF robotic arm for the purpose of creating “light painting” photographs.

In order to accomplish this, we made use of the full range of forward and inverse position and velocity kinematics. We designed, simulated, and realized end-effector trajectories to produce predictable and desirable final photographs, the nature of which would demonstrate mastery of the robot’s kinematics. This arm should be viewed as a prototype with potential future use as an educational tool in the teaching of robot kinematics and dynamics.

RBE500_arm_model

D-H Parameters

RBE500Arm

Mechanical Design in SolidWorks

RBE500Arm_ME

Simulation Model (SimMechanics)

simulink

Simulation Input and Output

trajectory

Light Printing Image

Frame_Painting
S-Painting