Design and build of a multi DOF robotic arm

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The topic of this thesis is the design and build of a three degree of freedom robotic arm, including the development of a mobile app for remote controlling. The project includes the planning process of the total mechanical and electrical design from scratch, as well as the development process of the embedded software that controls the robot, and the operating system independent app for remote controlling.

In summary, this final project guides the reader through the whole project starting with an introduction in the field of industrial robots. After that, the creation of the CAD model is shown, continuing with the geometric calculations of the structure to determine the inverse kinematic solution which plays a huge role in the embedded software. In the next chapter it introduces the electrical design process with detailed description on the printed circuit board design. Afterwards, the embedded software is presented which is responsible for controlling the arm motion. Then the thesis gives a sufficiently detailed presentation on the mobile application through which the robotic arm can be controlled using Bluetooth communication. In the closing chapter the evaluation of the project can be found with drawing the conclusions and with covering the theme of further development possibilities.


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