Application of Cartesian Robotic Arm for 2D Sketching Controlled by PLC
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Abstract
This paper presents the application of a cartesian robotic arm for 2D sketching, width 297 mm, length 400 mm. The movement of the x and y axis is linear, which is driven by servo motor. To reduce cost, the z-axis movement of the robotic arm uses an electric solenoid instead of a servo motor. The movement of all 3 axes of the robotic arm is controlled by PLC model CJ2M-CPU11. The defined coordinates or positions for moving the robotic arm are obtained by converting the black and white image prototype using the ALL TO G-Code Converter program. The coordinate data cannot be directly imported into the PLC's memory. A program to adjust the coordinates for storing in PLC's memory was developed on MATLAB program. This program can shrink or enlarge the coordinates from the prototype image. The PI type feedback control is used to control the speed of the servo motor. The prototype image used must not exceed 100 Kbyte in size. If the line is thick, the positions obtained by converting with ALL TO G-Code Converter program are only the border of the prototype image. The experimental results, the cartesian robotic arm can sketch the fastest according to the defined image prototype. The speed setting of the x and y axis servo motor must be related to the proportion of the prototype. Optimal values for acceleration and deceleration, Kp, and Ti are 50c/s2, 800 Hz and 1600 ms, respectively. Since the z axis movement of the robotic arm uses an electric solenoid. The circular sketch according to the prototype looks distorted. Sketching equipment, the head of pen must be strong enough because the z-axis cannot control the pressure.
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