ROBOT MANIPULATOR

Supervised by: Dr. Buddhika Jayasekara

• Srikanth W.S.
• Sumithrarachchi S.U. 080486N • Tharaka A.D.P.M. 080494L 080499G • Wickramarachchi S. 080537A

Presented by: S. U. Sumithrarachchi S. Wickramarachchi

080494L (16-2) 080537A (16-4)
Date: 01/11/2012

Group 16-Dept of Electrical Engineering

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 e.g. Helping hand for a disabled person Group 16-Dept of Electrical Engineering

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)
Group 16-Dept of Electrical Engineering

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 user’s desire.
Group 16-Dept of Electrical Engineering

Rotation of the wrist

Wrist Rotation

Metacarpophalangeal (MCP) of the fingers

Grasping

MCP

These 2 DOF is used for the object handling.
Group 16-Dept of Electrical Engineering

SYSTEM OVERVIEW

User Commands

PC
Control Signals

MOTOR DRIVER USER INTERFACE CONTROLLER
Group 16-Dept of Electrical Engineering

USER

ROBOT MANIPULATOR

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

Group 16-Dept of Electrical Engineering

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

Group 16-Dept of Electrical Engineering

KINEMATICS ANALYSIS
• Denavit-Hartenberg parameters
Articulation θ d(m) a α

1 2 3

θ1 θ2 θ3

0.14 0 0

0 0.35 0.37

π/2 0 0 𝜃𝑖

: Rotation around 𝑍(𝑖−1) axis. 𝑑𝑖 : Translation along 𝑍(𝑖−1) axis. 𝑎𝑖 : Translation along 𝑥𝑖 axis. 𝛼𝑖 : Rotation around 𝑥𝑖 axis.
Group 16-Dept of Electrical Engineering

DH cont…
Ɵ1, Ɵ2, Ɵ3 Forward kinematics X,Y,Z

Group 16-Dept of Electrical Engineering

INVERSE KINEMATICS
X, Y, Z Inverse Kinematics

Ɵ1, Ɵ2, Ɵ3

Group 16-Dept of Electrical Engineering

MECHANICAL DESIGN
Elbow motor

Shoulder motor Wrist rotation motor

Thrust bearing

Base motor Base

Gripper

The mechanical design of the robot manipulator is modeled using SolidWorks
Group 16-Dept of Electrical Engineering

COMPONENT SPECIFICATIONS

Motor specs

• • •

Base/Shoulder Motors

• •
• • • •

Torque: 39.8kg.cm at 7.2V Weight: 177.5g
Torque: 20kg.cm at 6V Weight: 56g Torque: 17.5kg.cm at 6V Weight: 56g

Elbow Motor

Wrist Motor

• • •

Bearings: Thrust bearing Links : 40cm each, Al Gripper:

microserver

Group 16-Dept of Electrical Engineering

STRESS ANALYSIS on
SOLIDWORKS
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.

Group 16-Dept of Electrical Engineering

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

Group 16-Dept of Electrical Engineering

BASE MOTOR
Maximum torque of the selected motor

Torque variation of 5 movements

Group 16-Dept of Electrical Engineering

SHOULDER MOTOR

Maximum torque of the selected motor

Maximum torque of the selected motor

Group 16-Dept of Electrical Engineering

ELBOW MOTOR
Maximum torque of the selected motor

Maximum torque of the selected motor

Group 16-Dept of Electrical Engineering

TRAJECTORY PLANNING

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

Group 16-Dept of Electrical Engineering

MOTOR CONTROLLING CIRCUIT VIDEO

Group 16-Dept of Electrical Engineering

SAFETY MEASURES
Software Motor angle limits implemented through the software (0˚-100˚) Hardware Rounded edges

Safety switches in the Emergency Stop UI (to be implemented) Button

Limit switches

Group 16-Dept of Electrical Engineering

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
• Implementation of limit switches
Group 16-Dept of Electrical Engineering

ROBOT MANIPULATORCURRENT STATUS

Group 16-Dept of Electrical Engineering

Group 16-Dept of Electrical Engineering

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