Universal Journal of Mechanical Engineering Vol. 6(3), pp. 47 - 53
DOI: 10.13189/ujme.2018.060301
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Human Machine Interface Design for a 3 DoF Robot Manipulator


Fatih Cemal Can *, Önder Lapçin , Burak Ayan , Mehmet Çevik
Faculty of Engineering and Architecture, Mechatronics Engineering, İzmir Kâtip Çelebi University, İzmir, 35620, Çiğli, Turkey

ABSTRACT

This paper represents a Human Machine Interface (HMI) design to control a 3 DoF robot manipulator. This manipulator has two parallelograms to make the moving platform always parallel to the ground. We used inverse kinematic analysis of the robot manipulator to control the end point location. Inverse kinematic results are verified using design parameters and end effector location. According to our algorithm, user defines the end point location from HMI, and then program solves inverse kinematics of the robot manipulator. The angles are sent to Arduino microcontroller to set the position of the servo motors. Using this HMI, the user picks and places the object in real time. The user can also give command to draw linear, circular and rectangular paths on the HMI.

KEYWORDS
Arduino, 3 DoF Robot Manipulator, Inverse Kinematics, Human Machine Interface, Visual C#.

Cite this paper
Fatih Cemal Can , Önder Lapçin , Burak Ayan , Mehmet Çevik . "Human Machine Interface Design for a 3 DoF Robot Manipulator." Universal Journal of Mechanical Engineering 6.3 (2018) 47 - 53. doi: 10.13189/ujme.2018.060301.