Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education

Mohd Asri, Fatin Atirah and Ayob, Mohammad Afif and Rohaziat, Nurasyeera and Rahman, Hisyam Abdul and Rahman, Khairul Azlan A. and Ayob, Mohd Erdi (2023) Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education. In: 2023 IEEE Symposium on Computers and Informatics, ISCI 2023, 14 October 2023 through 15 October 2023, Hybrid, Shah Alam.

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Abstract

As a key component of Industry 4.0, robotics is acquiring traction in classrooms around the world. Robotics initiatives may stimulate students' interest in STEM (Science, Technology, Engineering, and Mathematics) subjects. Therefore, it is essential to translate theoretical information into tangible prototypes and study robotics using physical models. Most schools cannot afford to provide students with sufficient opportunities to work with robots due to the expense of robotics. This study aims to promote STEM education by describing the development of a free, open-source robot joint with three degrees of freedom (DOF). The control algorithm for a 3D-printed MK2 robot arm was programmed with an STM32 microcontroller. The robot has a servo-powered arm that has a gripper on the end-effector. A joystick can be used to control the movement of any mechanical joint. The forward kinematic has also been constructed and validated in a simulation-based environment in MATLAB and SolidWorks. The developed kinematics algorithm showed precise Denavit-Hartenberg (DH) characteristics with high accuracy with the worst-case scenario for the kinematic computation error contributes to only 0.26% or 0.0702mm of the end-effector position.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	Denavit-Hartenberg, Kinematics, Robot arm, STEM, STM32
Divisions:	Faculty Of Electronics And Computer Technology And Engineering
Depositing User:	Anis Suraya Nordin
Date Deposited:	17 Oct 2024 16:25
Last Modified:	17 Oct 2024 16:25
URI:	http://eprints.utem.edu.my/id/eprint/28095
Statistic Details:	View Download Statistic

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