4-DOF Robotic Arm 3D Printer
A simulation of a 4-dof robotic arm printer that can traverse through cubic and trapezoidal trajectories and can be used for 3D printing
Created on 13th December 2020
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4-DOF Robotic Arm 3D Printer
A simulation of a 4-dof robotic arm printer that can traverse through cubic and trapezoidal trajectories and can be used for 3D printing
The problem 4-DOF Robotic Arm 3D Printer solves
Specs
The robotic arm is of 4dof configuration. It can traverse cubic and trapezoidal trajectories forming both simple as well as complex patterns with relative ease. It can be used in the 3D printing industry.
Tools Used
We've used Simulink for the simulation of the robotic arm and Matlab to manipulate the DH parameters so as to create elaborate patters.
Algorithm Used
Recursive inverse kinematic algorithm has been employed as it's one of the least computationally complex ways.
Challenges we ran into
The Pandemic
The COVID pandemic has made it impossible for doing the fun stuff - A physical implementation.
However that didn't stop us from doing the simulation although it wasn't half as fun.
The End Effector
The end effector of the robot arm which we modelled had a defect which took hours to resolve.
Technologies used