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

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 tan...

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Main Authors: Mohd Asri, Fatin Atirah, Ayob, Mohammad Afif, Rohaziat, Nurasyeera, Rahman, Hisyam Abdul, Rahman, Khairul Azlan A., Ayob, Mohd Erdi
Format: Conference or Workshop Item
Language:English
Published: 2023
Online Access:http://eprints.utem.edu.my/id/eprint/28095/1/Development%20of%20an%20open-source%20and%20low-cost%20robotic%20arm%20based%20on%20STM32%20microcontroller%20for%20promoting%20STEM%20education.pdf
http://eprints.utem.edu.my/id/eprint/28095/
https://ieeexplore.ieee.org/stampPDF/getPDF.jsp?arnumber=10391894
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spelling my.utem.eprints.280952024-10-17T16:25:57Z http://eprints.utem.edu.my/id/eprint/28095/ Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education Mohd Asri, Fatin Atirah Ayob, Mohammad Afif Rohaziat, Nurasyeera Rahman, Hisyam Abdul Rahman, Khairul Azlan A. Ayob, Mohd Erdi 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. 2023 Conference or Workshop Item PeerReviewed text en http://eprints.utem.edu.my/id/eprint/28095/1/Development%20of%20an%20open-source%20and%20low-cost%20robotic%20arm%20based%20on%20STM32%20microcontroller%20for%20promoting%20STEM%20education.pdf 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. https://ieeexplore.ieee.org/stampPDF/getPDF.jsp?arnumber=10391894
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description 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.
format Conference or Workshop Item
author Mohd Asri, Fatin Atirah
Ayob, Mohammad Afif
Rohaziat, Nurasyeera
Rahman, Hisyam Abdul
Rahman, Khairul Azlan A.
Ayob, Mohd Erdi
spellingShingle Mohd Asri, Fatin Atirah
Ayob, Mohammad Afif
Rohaziat, Nurasyeera
Rahman, Hisyam Abdul
Rahman, Khairul Azlan A.
Ayob, Mohd Erdi
Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
author_facet Mohd Asri, Fatin Atirah
Ayob, Mohammad Afif
Rohaziat, Nurasyeera
Rahman, Hisyam Abdul
Rahman, Khairul Azlan A.
Ayob, Mohd Erdi
author_sort Mohd Asri, Fatin Atirah
title Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
title_short Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
title_full Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
title_fullStr Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
title_full_unstemmed Development of an open-source and low-cost robotic arm based on STM32 microcontroller for promoting STEM education
title_sort development of an open-source and low-cost robotic arm based on stm32 microcontroller for promoting stem education
publishDate 2023
url http://eprints.utem.edu.my/id/eprint/28095/1/Development%20of%20an%20open-source%20and%20low-cost%20robotic%20arm%20based%20on%20STM32%20microcontroller%20for%20promoting%20STEM%20education.pdf
http://eprints.utem.edu.my/id/eprint/28095/
https://ieeexplore.ieee.org/stampPDF/getPDF.jsp?arnumber=10391894
_version_ 1814061460887699456
score 13.211869

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