Design and Repeatability Test of a 6 Degree of Freedom Robotic Arm

摘要

In this research, the 6-Degree of Freedom (6-DOF) industrial robot arm is designed to be able to run or perform flexible industrial functions and tasks. To perform these functions in a flexible industry, it is necessary to design the robot arm controller, thus enable it to be programmed flexibly using the teaching method or providing destination coordinates. Hazardous working area conditions require the operation of the robot arm to be carried out remotely. Therefore, the controller is integrated with the virtual robot arm to be able to control the robot arm and display the position and shape of the robot arm in 3D so as to allow the robot arm to be controlled remotely in dangerous environmental conditions. The controller and robot arm performances are tested by carrying out several pick and place missions from and to quadrant I, II, III and IV which was observed from the work area in the form of a circle around the base. This pick and place mission is executed by repeating each mission fifty times. The error value or deviation of the target coordinates with the actual coordinates of each mission is recorded to determine the robot's performance. The test results show a good robot arm performance with a relatively low standard deviation.