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Design of Real-Time Cobot Planetary Gear System Interfacing with Stepper Motor

Journal: International Journal of Science and Research (IJSR) (Vol.11, No. 4)

Publication Date:

Authors : ; ;

Page : 95-99

Keywords : Arduino UNO; Nema-17 Stepper Motor; A4988 stepper driver; Additive manufacturing; Sun gear; planetary gear;

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Now a days the rise of collaborative robots have became emerging technology across the globe. In this project , we have used additive manufacturing where we take 3D CAD files which are planetary gears, sun gears , base gear and we have connected Nema-17 Stepper motor along with A4988 stepper motor driver to control the position of the robot . This robot arm is (roughly) modeled after the UR3 industrial robot at a scale of 80 percent and it is attached between thorax and upper shoulder. It follows the same design principle of putting a motor/reducer actuator unit at each joint and stacking two actuators to produce a 4-axis arm. While the UR3's actuators are hollow torque motors with harmonic drives, this robot uses stepper motors with compound planetary actuators.

Last modified: 2022-05-14 21:04:25