Two-Axis Robotic Arm

By

Brandon Rawson, Victoria Vasquez and Spencer Bain

3D Printing
Soldering
Arduino
PCB
Laser Cutting
Robotics
Matlab
Documentation
Accelerometer

This project involved creating a two-axis Selective Compliance Assembly Robot Arm (SCARA) that is driven by the user's arm muscle contraction and wrist movement. The muscle contraction is detected with electromyography (EMG) sensors and wrist movement is sensed with an accelerometer. The robotic arm draws lines and shapes per the user's control. A Matlab graphical user interface (GUI) was developed to allow more robust control over the robot. The GUI takes gcode as input which controls the movement of the robot and the end effector. The robotic arm is made from a combination of 3D printed and laser cut parts and mounted on a wood block. An end effector on the end of the robotic arm grips pens, pencils, and other writing utensils to enable the arm's drawing capabilities. This design was made to be low-cost and reproducible, and is documented in the project artifacts.

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Artifacts

Name Description
Project Engineering Requirements Overview of the 7 customer and engineering project requirements.   Link
Block Diagram Top-level and block diagrams for project specs.   Link
PCB Design Pictures of the PCB designed for the project. The PCB consists of a row of LEDs to show the state of the system while it is in use, and the pushbuttons provide additional input to the system.   Link
Mechanical Design Drawings Mechanical drawings for each of the mechanical components of the project.   Link
Interface Definitions Lists and explains the specifications for each interface between connected blocks in the block diagram.   Link
Bill of Materials Complete list of all materials used for this project.   Link
Matlab GUI Code Code that was used to implement the Matlab gcode GUI.   Link
Arduino Code Code that was used to parse data from the inputs and move the robotic arm.   Link
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