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lego_2link_arm [2019/03/08 06:55] – [Running, Testing and Analysis] ntorresreyeslego_2link_arm [2019/03/08 07:14] (current) – [Theoretical Background] ntorresreyes
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   *[[lego_2link_arm#runningtestingandanalysis|Running, Testing and Analysis]]   *[[lego_2link_arm#runningtestingandanalysis|Running, Testing and Analysis]]
   *[[lego_2link_arm#conclusions|Conclusions]]   *[[lego_2link_arm#conclusions|Conclusions]]
-  *[[lego_2link_arm#finalwords|Final Words]] 
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 ====Parts List==== ====Parts List====
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 ====Theoretical Background==== ====Theoretical Background====
 +{{:torres:tutorials:2_link_tutorial_14.png?nolink&500|}}
 +\\
 The theoretical background needed for this tutorial can be fully covered [[2_link_kinematics|here]]. In short, it covers the kinematics of a 2-link arm using using three different methods: Matrix algebra, Geometry, and computational tools. Additionally, it provides an introduction into Matlab simulation of the 2-link arm. The link length values in the tutorial can be easily replaced by the actual link values which are found in the code below. The theoretical background needed for this tutorial can be fully covered [[2_link_kinematics|here]]. In short, it covers the kinematics of a 2-link arm using using three different methods: Matrix algebra, Geometry, and computational tools. Additionally, it provides an introduction into Matlab simulation of the 2-link arm. The link length values in the tutorial can be easily replaced by the actual link values which are found in the code below.
  
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 ===Testing and Analysis=== ===Testing and Analysis===
-The best way to test the arm is to use the studded wall as a reference. When the code is ran, the initial position of the arm is regarded as the zero angle position. With this in mind, it is important to have the arm as level as possible. Testing several points allows you to better see the response of the arm. Friction and slop in the arm will be the biggest factors in accuracy. This is where tuning the parameter will help.+The best way to test the arm is to use the studded wall as a reference. When the code is ran, the initial position of the arm is regarded as the zero angle position. With this in mind, it is important to have the arm as level as possible. Testing several points allows you to better see the response of the arm. Friction and slop in the arm will be the biggest factors in accuracy. This is where tuning the parameters will help.
 \\ \\
 <code> <code>
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 ====Conclusions==== ====Conclusions====
 +In conclusion, it was found that it is possible to create a successful 2-link robot arm using LEGO and to control the arm using analytical solutions to the inverse kinematics. It is also possible to tune the arm to achieve better accuracy. Possible future iterations may include improving the mechanical stiffness of the arm to reduce the error in the final position. It is also possible to add a third link as an end-effector for practical uses of the arm. These can include various sensors or grippers. Solidworks can also be used to run simulations or test different iterations of the arm. As long as the parts are properly defined, it is possible to obtain moments of inertia and centers of gravity for each link. This can be used for further dynamic calculations.
  
-====Final Words==== 
lego_2link_arm.1552056949.txt.gz · Last modified: 2019/03/08 06:55 by ntorresreyes