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Research Paper | Mechatronics | India | Volume 11 Issue 4, April 2022

Design of Real-Time Cobot Planetary Gear System Interfacing with Stepper Motor

B. S. M. Vishwanth | MVS Praveen ^[2]

Abstract: Now a days the rise of collaborative robots have became emerging technology across the globe. In this project , we have used additive manufacturing where we take 3D CAD files which are planetary gears, sun gears , base gear and we have connected Nema-17 Stepper motor along with A4988 stepper motor driver to control the position of the robot . This robot arm is (roughly) modeled after the UR3 industrial robot at a scale of 80 percent and it is attached between thorax and upper shoulder. It follows the same design principle of putting a motor/reducer actuator unit at each joint and stacking two actuators to produce a 4-axis arm. While the UR3's actuators are hollow torque motors with harmonic drives, this robot uses stepper motors with compound planetary actuators.

Keywords: Arduino UNO, Nema-17 Stepper Motor, A4988 stepper driver, Additive manufacturing, Sun gear, planetary gear

Edition: Volume 11 Issue 4, April 2022,

Pages: 95 - 99