Analysis and Optimization of Three Degree of Freedom Cylindrical Robotic Arm for Drilling Application

Abstract

In this research, three DOF robotic arm using stepper motors has been designed and utilized for the drilling application of a mild steel plate and then simulation is done to visualize the robot motion. This robotic arm is control by an Aurdino AT Mega 2560 Microcontroller. The microcontroller is used to generate PWM signals which are applied to stepper motors for achieving the desired rotation. Each stepper has a different specification. The main advantage of controlling the stepper motors with PWM signals is that it can be programmed to have an initial position and to rotate with an exact degree with respect to the requirements.

Optimization techniques are used to optimize the route of drilling for multi point holes on an object such as Branch and Bound, Genetic algorithm, Simulated Annealing. A mathematical approach is also formulated for the optimum sequence of drilling and this sequence is compared to Branch and Bound, GA and SA then conclusion is presented. Time taken to follow the sequence is also determined with these techniques and finally compared by the time taken using mathematical formulated technique.