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Table of Contents
LEGO 2-Link Robot Arm Tutorial
Author: Norberto Torres-Reyes Email: torresre@unlv.nevada.edu
Date: Last modified on 03/08/19
Keywords: kinematics, planar, robotic arm, 2 link, lego, NXC, mindstorm
Motivation and Audience
This tutorial is for anyone who wishes to create a 2-link robotic arm using LEGO Mindstorm to reinforce theoretical knowledge about 2-link planar mechanisms. Readers of this tutorial are recommended to have the following background and interests:
*Previous experience with LEGO Mindstorm
*Matlab and C-based programming experience
*Knowledge of linear algebra
*Interests in robotics
*Experience with Solidworks
The rest of the tutorial is presented as follows:
Parts List
LEGO NXT parts list is given in full detail below. Most parts can be obtained from the Mindstorm kit, although some extra parts will be needed from LEGO's Technic line of bricks.
Theoretical Background
The theoretical background needed for this tutorial can be fully covered HERE. In short, it covers the kinematics of a 2-link arm using using three different methods: Matrix algebra, Geometry, and computational tools. Additionally,
Build Plans
A few different build plans are available. This includes photographic and 3D model based plans as well as a Solidworks based build plan. The reader may wish recreate the model in both Solidworks and with LEGO parts to familiarize themselves the procedures. The build plans are organized below: