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EXPERIMENTAL STUDY AND ALGORITHM FOR A GANTRY ROBOT
Abhinanth M.M.* and Ramesh Kumar R.
A scaled version of a gantry robot to cover an envelope of 300 x 300 x150mm is designed to establish the accuracy of end positions prior to the manufacturing of any industrial gantry robot. A desk top 3-D printer is suitably modified for the fabrication of robot and measured translational motions are compared with prediction following well known D-H parameter. A good agreement on the end positions between the test and prediction are illustrated. Arduino code employed to control the real time execution of the gantry robot movement in a semi-automatic mode is provided for the designer.[Full Text Article]