The goal of this project is to design a robotic manipulator using Dynamixel MX-28AR servo motors to accomplish some task defined by yourselves. Your team, with at most 4 students, will be graded upon:
Design
You are required to design a robotic manipulator, operated in 3D with at least 4 DoF, using Dynamixel MX-28AR servo motors as actuators. SolidWorks is available in SEASnet Lab via remote access. When you are designing, you can consider:
• The configuration to accomplish the task
• The link length constrained by the motor torque
• The joint angle constrained by the physical interference
• A gripper as the end-effector can be a bonus
• Prismatic joints can be a bonus
• Any interesting mechanisms can be a bonus
Forward Kinematics
You are required to derive the forward kinematics for your designed manipulator, from the base frame to the end-effector frame. The numerical values must not be used until the very end.
Inverse Kinematics
You are required to derive the inverse kinematics for your designed manipulator, using either algebraic or geometric method. The numerical values must not be used until the very end. Describe how you deal with multiple solutions.
1 of 2
Simulation
You are required to code your kinematics in MATLAB and do a simple task simulation to verify your kinematics via animation. An example is provided. Additional animation in SolidWorks is highly recommended but not required.
Report
