Development of a New-Style Desktop Manipulator

In his paper, a new-style desktop manipulator is developed for training undergraduate students major in mechatronics engineering. The mechanical part of the manipulator has four degrees of freedom (DOFs) and adopts a modular structure. A mathematical model of the manipulator mechanism is established based on the cylindrical coordinate system for the control work. The lower control system of the manipulator is developed based on the Arduino board, and the upper control system is developed with LabVIEW on a computer, so the command sending and motion monitoring of the manipulator can be realized through an interactive interface on the computer. Finally, an experiment of transferring materials is performed to demonstrate the application of the proposed manipulator.