Design & control implementation of a bi-level stepper motor drive for a five-axis robot manipulator considering for space applications

The paper introduces a comprehensive design and implementation framework for a bi-level power supply stepper motor drive interface, facilitating control of a five-axis robot arm through a computer’s parallel port. Additionally, it describes the development of simulation software used to control the robot arm for PNP (pick and place) operations, specifically for the precise placement of cylindrical metal casings containing uranium pellets into slots with welded small pads. The primary focus of the paper is on designing and implementing a bi-level stepper motor drive tailored for a five-axis robot manipulator. This system integrates a sophisticated stepper motor drive architecture with dual levels of control to improve the precision and efficiency of the robot manipulator’s movements. Advanced features, such as micro-stepping and precise motion control, are incorporated into the design to optimize the performance of the stepper motors. The dual-level control strategy aims to synchronize and coordinate the movements of the five-axis robot manipulator, ensuring smooth and accurate operation. Moreover, the paper discusses the development of specialized control algorithms to further enhance the performance of the stepper motors, enabling precise positioning and movement of the robot arm. These algorithms likely include trajectory planning to ensure efficient movement between points and collision avoidance. The simulation software developed for controlling the robot arm likely includes a user-friendly interface for programming and monitoring the robot’s movements. It may also feature simulation capabilities to test the robot’s movements before implementing them in the physical environment, reducing the risk of errors and optimizing the robot’s performance. Additionally, the paper may delve into the mechanical design considerations of the robot arm, such as the materials used, the range of motion of each axis, and any safety features implemented to protect the robot and its surroundings during operation. In conclusion, the research contributes significantly to advancing the field of robotics by providing a comprehensive solution for designing and controlling a sophisticated robot manipulator. It showcases the integration of hardware and software components to achieve precise and efficient movement for PNP operations in a challenging environment, particularly customized for the nuanced requirements of a five-axis robot manipulator.