Code-Breakers

Anthropomorphic Robot
RRR Robot

Project
Advances
1st Term

Gaytan Muñoz Diana Guadalupe

Mejia Velazco Victor Hugo
Ramos Ávila Daniel Alejandro
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CONTENT

INTRODUCTION ........................................ 2
MECHANICAL DESIGN ............................... 3
ELECTRICAL DESIGN .................................. 3
DGM SOLVED ............................................ 3
SOLVES DGM ............................................ 3
6DOF DGM SOLVED .................................. 3
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INTRODUCTION

The objective of this report is tol et you know about the advances for our
development in our Project. As We know, the report for the first term, must include
the following information:
- Mechanical/Electrical Design
- DGM Solved
- Solves DGM
- And the 6DOF DGM Solved
For this reason, we redact those points in order, to make easy for you read it.
The robot Will be an anthropomorphic robot, wich is defined as a three cylindrical
joints, which let us change the rotation and/or the inclination for the robot links.

Nowadays, the increased interest on this type of robot, lies not so much in the
novelty of robots as an illusion of the human-like life they give.

Figure 1. Project Diagram of a RRR Robot.

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MECHANICAL DESIGN

To make mor e detailed the developing for the link of the robot, we made a
SolidWorks assembly, to detail the structure that we are based on, obviously we
are gong to change some details in the future for the better, and make the
movement of the links smooth and precise.

Figure 2. Mechanical design

The components for this structure are:

- Two rings for the base (gray ones)
- Four base holders (green), which are for make the base more solid and also,
we can add an additional weight, for the stability.
- Four pieces, that add height to the principal arm (purple and red) and we hope
the joint don’t have troubles with this links.
- Four pieces (longer than the principal ones) to make the second link (orange
and blue).
- And the tool will be at the end of the second joint, we add a picture of a tweezer
that we already had, and we hope to use it in this project.

We consider a material for the links, and, decided to be acrylic or MDF.

Note: the links dimensions are still on testing.
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ELECTRICAL DESIGN

To make the robot move, we need some electrical component, such that realize the
rotational movement of the robot. Also, we need a component which give us the
chance to program and modify the behavior of the robot. To make those things
reality, we add a list of our electrical components.
- Arduino uno

Figure 3. Arduino UNO

- Servo motors

Figure 4. 360 degrees Servo motor

This component has the capability to lift 2Kg, and rotates 360 degrees, and is
considered as a micro servo motor, this way, can help us to add some details for the
good looking robot structure.
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Figure 5. 180 degrees Servo Motor

This one lifts 15Kg and has a rotation of 180 degrees.
We have not decided which one servo motor to add for the structure, anyway, both
are very small and we can easily install to the base or the joint.
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DGM SOLVED

To begin with the DGM for our robot, we made a diagram which help us to obtain the
D-H parameters and write the code for solve the DGM, to represent this we add some
figures.

Figure 6. RRR Robot diagram.

𝑖 𝜎 a 𝛼 d 𝛳
1 0 0 - π/2 𝑳𝟏 𝜭𝟏 *
2 0 𝑳𝟐 0 0 𝜭𝟐 *
3 0 𝑳𝟑 0 0 𝜭𝟑 *

Table 1. D-H parameters for a 3DOF Robot.

To fill the table, we follow the method that we learn in class, and add variables to
represent the link dimensions.
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SOLVES DGM

All things considered, we simulated the D-H parameters in the code we write.

Figure 7. Parameters for the simulation.

Significantly, the parameters that we put are same size vectors, and the link lengths
are given by alternative measures, which we thought can be good for the structure.

Figure 8. Graphic simulation for the robot links.

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6DOF DGM SOLVED

Figure 9. 6DOF robot diagram.

𝑖 𝜎 a 𝛼 d 𝛳
1 0 0 −𝝅/𝟐 𝑳𝟏 𝜭𝟏 *
2 0 𝑳𝟐 0 0 𝜭𝟐 *
3 0 0 𝝅/𝟐 0 𝜭𝟑 *
4 0 0 −𝝅/𝟐 𝑳𝟒 𝜭𝟒 *
5 0 0 𝝅/𝟐 0 𝜭𝟓 *
6 0 0 −𝝅/𝟐 𝑳𝟔 𝜭𝟔 *
Table 2. D-H Parameters
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Figure 10. Simulation parameters.

Figure 11. Graphic simulation for the robot links.