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MechatronicsCourse Project · 2024
3-DOF 3D-Printed Robotic Arm
Designed and developed a 3-DOF robotic arm, including power electronics and SolidWorks–Simulink co-simulation to validate control system performance.
Role
Mechatronics Designer
Duration
Course Project · 2024
Team
Team of 3 (Mechatronics Engineering Students)
/Problem
Design a low-cost 3-DOF robotic arm for educational use, capable of demonstrating inverse kinematics and trajectory tracking without sacrificing repeatability.
/Approach
- 01Implemented a closed-loop trajectory controller and characterized end-effector repeatability.
- 02Sized stepper motors and drivers from joint torque requirements derived in MATLAB.
- 03Co-simulated the mechanism in SolidWorks/Simulink to validate the controller before hardware bring-up.
- 04Implemented a closed-loop trajectory tracker and characterized end-effector repeatability.
/Results
- Maintained total BOM under $150.
- Inverse kinematics solver runs comfortably in real time on the target MCU.
- Total BOM under $150.