Rafal FENC and Marek STEMBALSKI
Wroclaw University of Technology, Faculty of Mechanical Engineering, Department of Machine Tools and Mechanical Technology, Wroclaw, Poland
The article presents the methodology of proceeding while designing a manipulator with 6 degrees of freedom. The main goal of the project was to produce as many elements as possible using a 3D printer and to ensure maximum load capacity of 0.5 kg in the position of the greatest tilt of its arms. In the project described above, a manipulator was made in which nearly 90% of the elements were obtained in 3D printing technology. A smartphone with dedicated software written in C ++ was used to provide communication of the robot with the user. The STM32 microcontroller was used as a source of communication and computational element in the robot. The designed manipulator is modelled on Autodesk Inventor 3D graphics software. The culmination of the work was the preparation of a physical model and verification of its correct functioning.