3-Axis Robotic Arm based on 4 Motors

Abstract

This Thesis details the comprehensive process involved in the development of a collaborative robotic arm, drawing inspiration from the renowned IRB 460 model. The project unfolds through a systematic series of steps, commencing with conceptualization and structural sketching, followed by the meticulous creation of detailed models utilizing SolidWorks. Subsequently, motion simulation is conducted using Visual Component, providing a virtual environment to assess the arm's functionality and performance. Physical realization is achieved through 3D printing of designed components, culminating in the integration of servo motor control facilitated by an ESP32 driver board. Throughout the project, various challenges are encountered, including design intricacies, assembly complexities, and wiring intricacies. These obstacles necessitate creative problem-solving and iterative refinement to ensure the successful realization of the robotic arm. Reflecting on the project, key insights emerge regarding the significance of design optimization, assembly efficiency, and meticulous wiring planning. Furthermore, proficiency in technical tools such as SolidWorks and Visual Component emerges as critical for project success, underscoring the importance of continuous skill development and learning. Overall, this project was a valuable learning experience that provided practical insights into the robotics development process, as well as fostered my growth and expertise in the field.