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LEGO 2-Link Robot Arm Tutorial

Author: Norberto Torres-Reyes Email: [email protected]
Date: Last modified on 03/08/19
Keywords: kinematics, planar, robotic arm, 2 link, lego, NXC, mindstorm

Motivation and Audience

This tutorial is for anyone who wishes to create a 2-link robotic arm using LEGO Mindstorm to reinforce theoretical knowledge about 2-link planar mechanisms. Readers of this tutorial are recommended to have the following background and interests:

*Previous experience with LEGO Mindstorm
*Matlab and C-based programming experience
*Knowledge of linear algebra
*Interests in robotics
*Experience with Solidworks

The rest of the tutorial is presented as follows:

Parts List

LEGO NXT parts list is given in full detail below. Most parts can be obtained from the Mindstorm kit, although some extra parts will be needed from LEGO's Technic line of bricks.

Theoretical Background

The theoretical background needed for this tutorial can be fully covered HERE. In short, it covers the kinematics of a 2-link arm using using three different methods: Matrix algebra, Geometry, and computational tools. Additionally,

Build Plans

A few different build plans are available. This includes photographic and 3D model based plans as well as a Solidworks based build plan. The reader may wish recreate the model in both Solidworks and with LEGO parts to familiarize themselves the procedures. The build plans are organized below:




  • Solidworks Build Plans


NXT Brick Code

Running, Testing and Analysis

Conclusions

Final Words

lego_2link_arm.1552017640.txt.gz · Last modified: 2019/03/07 20:00 by ntorresreyes