ROBOT MANIPULATOR

Supervised by: Dr. Buddhika Jayasekara Click to edit Master subtitle style

Presented by: S. U. Sumithrarachchi 2) S. Wickramarachchi 4) 11/2/12

080494L (16080537A (16-

Group 16-Dept of 11 Date: 01/11/2012

OVERVIEW

Design and development of a robot manipulator Purpose Perform basic object handling e.g. pick and place as a service

Application

As an experimental setup for new developments

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PROJECT SCOPE

Degrees of freedom : 4 (arm) 1(grasping) Workspace : quarter spherical area with a radius of 55cm Pay Load : 250g Suggested improvements: Develop an easier environment for a disable person (fixed by the side of a wheelchair)
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DEGREES OF FREEDOM IMPLEMENTED

External/internal rotation

Extension/flexion of the shoulder

Extension/flexion of the elbow

By 3 DOF, the robot manipulator designed can be positioned according to users desire. 11/2/12 Group 16-Dept of 44

Rotation of the wrist

Wrist Rotation

Metacarpophalangeal (MCP) of the fingers Grasping MCP

These 2 DOF is used for the object handling. 11/2/12 Group 16-Dept of 55

SYSTEM OVERVIEW

User Commands

Control Signals

MOTOR DRIVER

P C USER INTERFAC E

USE R

ROBOT MANIPULAT OR 11/2/12

CONTROLLER Group 16-Dept of 66

MOTIVATION TO USE THE ARDUINO UNO BOARD the 5 motors) 6 PWM pins 5 used (signals for
Easy communication with the PC Real time inputs and feedback available Easy developments (availability of analog/digital pins)

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GUI
The GUI consists of 3 parts. i.e. the position input, dynamic behaviour and a 3D visualization of the robot arm movement.

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KINEMATICS ANALYSIS

Denavit-Hartenberg parameters
Articulation d(m) a

1 2 3 11/2/12

1 2 3

0.14 0 0

0 0.35 0.37

/2 0 0

: Rotation around (1) axis. : Translation along (1) axis. : Translation along axis. : Rotation around axis. Group 16-Dept of 99

DH cont
1, 2, 3 Forward kinematic s X,Y,Z

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INVERSE KINEMATICS X, Y, Z Inverse Kinematic s 1, 2, 3

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MECHANICAL DESIGN
Elbow motor

Shoulder motor Wrist rotation motor Thrust bearing

Base motor Base

Grippe r

The mechanical design of the robot manipulator is modeled using SolidWorks

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Motor specs

COMPONENT SPECIFICATIONS
Torque: 39.8kg.cm at 7.2V Weight: 177.5g

Base/Shoulder Motors

Elbow Motor

Torque: 20kg.cm at 6V Weight: 56g

Wrist Motor

Torque: 17.5kg.cm at 6V
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STRESS ANALYSIS
SOLIDWORKS

on

Following is a stress analysis done for link 1 being fixed at the shoulder motor and a force of 10N acting at the other end of the link.

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DYNAMIC ANALYSIS

For selecting motors Considered both STATIC & DYNAMIC Torques Static Torque : Gravitational Dynamic Torque : Inertial + Coriolis (Centrifugal)

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BASE MOTOR
Maximum torque of the selected motor

Torque variation of 5 movements

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SHOULDER MOTOR

Maximum torque of the selected motor

Maximum torque of the selected motor

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ELBOW MOTOR
Maximum torque of the selected motor

Maximum torque of the selected motor

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TRAJECTORY PLANNING
Eg: trajectory planning plot for a movement from 30 to 60 within 5 seconds is shown below

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MOTOR CONTROLLING CIRCUIT VIDEO

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SAFETY MEASURES
Software Hardware Motor angle limits Rounded edges implemented through the software (0100) Safety switches in the Emergency Stop UI (to be Button implemented) Limit switches
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FUTURE WORK

Develop the software such that the user can input a position in the x, y, z coordinates. Development of the GUI to include the 3D visualization Consideration of other input methods
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ROBOT MANIPULATORCURRENT STATUS

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