Close
0%
0%

Educational Five-Bar Parallel Robot

Designed to be used as a first robot to introduce students to robotics concepts such as : Inverse Kinematics and control algorithms.

Similar projects worth following

With this planar robot you can play with forward and inverse kinematics and control algorithms. 

The second and third version are based on the Teensy 3.2 microcontroller, stepper motors and limit switches. 

The third version has two additional holes to attach two incremental encoders connected to the robot joints using timing GT2 belts.

The first  version involves the closed loop control of a DC motor coupled with an encoder and at the same time the kinematics concepts in robotics.

The basic program of the second version uses the teensystep.h library:

https://luni64.github.io/TeensyStep/index

Three libraries are needed to start running the program with the optical mouse:

If you want to control the robot with the mouse (It can be controlled with many other interfaces like touchscreens, joysticks or sending trajectories form a vector)  you need this library:

https://github.com/zapmaker/OptiMouse

The motor driver library (Other motor driers can be used such as L298N):

https://github.com/pololu/dual-mc33926-motor-shield

The PID Controller library to control the motor position in closed loop with the encoder position:

https://github.com/DonnyCraft1/PIDArduino

Adobe Portable Document Format - 1.01 MB - 10/05/2020 at 22:31

Preview
Download

Five-bar parallel robot V3.zip

Parts of the third version

x-zip-compressed - 1.53 MB - 10/05/2020 at 22:30

Download

Educational Fiver Bar Parallel robot v2.zip

Part files of the version based on stepper motors

x-zip-compressed - 1.00 MB - 08/25/2020 at 12:27

Download

Educational Five-Bar Parallel robot V1.zip

Part files and Mouse control program of the first version based on DC brushed motors and encoder.

x-zip-compressed - 145.60 kB - 08/16/2020 at 10:21

Download

View all 9 components

View all 3 project logs

  • 1
    Version 1: All steps
  • 2
    Version 2: Body assembly
  • 3
    Version 2: Limit switches

View all 22 instructions

Enjoy this project?

Share

Discussions

Xavi Cano wrote 10/17/2020 at 15:15 point

Thanks! 

  Are you sure? yes | no

Sergei V. Bogdanov wrote 10/17/2020 at 10:57 point

  Are you sure? yes | no

Sergei V. Bogdanov wrote 10/17/2020 at 10:55 point

We have similar project, we describe all the maths https://hackaday.io/project/101683-five-link-mechanism

  Are you sure? yes | no

Xavi Cano wrote 06/24/2020 at 14:39 point

Thanks! I am working on the next version with stepper motors and limit switches!

  Are you sure? yes | no

Dan Maloney wrote 06/24/2020 at 00:18 point

I've seen a lot of these that are very, um... "compliant". This one seems very tight. I'll bet it performs great as a plotter if outfitted with a pen. Nice work.

  Are you sure? yes | no

Similar Projects

Does this project spark your interest?

Become a member to follow this project and never miss any updates