Design of a low cost PC interface Six DOF robotic arm utilizing recycled materials

摘要

In this work, a PC-interfaced low cost robotic arm has been designed which can be integrated with modern robotic-arm based light weight lifting applications. Both manual and PC-based controlling system have been integrated with the robotic arm to make the manipulator use-worthy in maximum applications. This designed robotic arm has six degree of freedom (DOF) which is modeled as four-link, with each joint connected with suitable DC gear-motor. Available parts from local market as well as used up elements from industrial machines and household appliances have been used for the implementation of the manipulator to lower the cost. For controlling the robotic arm, microcontroller based manual controlling system with PWM speed control along with relays has been used and DC gear motor has been integrated with PC based on parallel communication for PC-based controlling system. The weight of the complete structure is only 7.363 kg which is capable of lifting up to 1.5 kg. This designed robotic arm costs only $125 including all prices of recycled and fresh materials which is considerably lower than commercially developed robotic arm with same specifications.