Cartesian Coordinate Robot

©Robolab Technologies Private Limited - Modelling and Control of a writing robot

India

Created on 2019.05.29 182 views

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PROJECT TIMELINE

©Robolab Technologies Private Limited.

The main idea behind the multipurpose cartesian coordinate robot is to gain knowledge and hands-on hardware as well as software experience in controls. The project governs various faculties of engineering such as mechanics, designing and modelling, CAD, Robotics, Systems, Controls, Programming and Electronics. The robot consists of 2 stepper motor actuators to control 2 axes mechanisms of the robot, 1 servo motor to control the z axis motion of the end effector. Amalgamation of control of all the actuations gives the final output as a robot which can draw, laser engrave and achieve desired coordinated on a 2D plane with respect to specified time. Therefore, control of this robot is equivalent to the time dependent manipulation of an end effector in a 2D plane. Thus, the manipulation can be given as a 3D dimensional entity.
Position P of the end effector = (x1, x2, t)
Another motive behind the product is the convenience. In today’s robotics market, 3D printers are ubiquitous. Discerning the demand for 3d printing, apparently automation on construction sites is fledgling. There is a demand for machines which can paint the wall. Similarly, some products exist which can draw or sketch. Fulfilling the same requirement, at Robolab Technologies, we think that, automation is the future in the sectors such as, arts, construction, wall painting and interior designing. Therefore, to take the step forward in such advancements, we decided to make a robot which can draw, write and sketch. A 2D robot whose drawing assembly can reach ends of A3 or A4 size of papers.
The Robot has 3 degrees of freedom. Two degree of freedom in X-Y Axis and 3rd one in the z axis attained using servo motor with motion that can be given as +z and -z. The motion in x and Y axis are given using two independent stepper motors. Therefore, the value motion in X-Y axis can be given by Real value between 0 to Xlimit and 0 to Ylimit respectively. The motion in Z axis is attained using a servo motor. The value of actuation given by this servo motor is either constant +z or constant -z. The value of Z depends upon the mechanism and the amount of rotation given to the servo horn. The value of z is the resultant value to pen travel in this case.
Finally, the manipulation of the robot can be given in 4 dimensions.
First dimension: X
Second Dimension: Y
Third Dimension: Z
Fourth Dimension: t
Final manipulation = State of the Robot = (x, y, z, t)
Where the domain of X = [0, Xlimit]
Y = [0, Ylimit]
Z = [-z & +z]
T = [0, t]

©Robolab Technologies Private Limited