Design and Control of an Educational Redundant 3D Printed Robot

摘要

This work presents the development of a redundant planar robot created with a 3D printer. The mechanical structure and the main kinematic dependencies are discussed. The hardware and software implementation of the prototype are presented. An algorithm is presented to find solutions of the inverse kinematics problem in the presence of obstacles in the workspace of the robot. The algorithm gives results on possible solutions both in the Cartesian coordinates and joint angles. The proposed software and the obtained results are the basis for planning trajectories of the robot in complex environments with obstacles. The created prototype is used for education of students in robotics and mechatronics. The advantages of using 3D printing technology in modeling and design and its application in the education process are highlighted.