ME102B - Mechatronics
Fall 2010 with Professor Kazerooni
- Overview - Senior design project to prototype a device controlled by an Arduino micro-controller in one semester. Built a parallel robotic arm where the effector end remains parallel to the ground
- Kinematics - Solved a system of equations using inverse kinematics to relate the angular position of the top parallelogram to the position of the effector. Prototyped and tested the dynamics equations in MATLAB. Compiled final C++ code using an Arduino micro-controller.
- Software - Taking input from the user through a Wii controller, the micro-controller interpreted the signal to desired coordinate in 3D space and translated that location to a series of output angles on the robotic arm. The micro-controller sent corresponding PWM signals to the 3 servo actuators on the robot.