Robotic Arm Mechanism for

Greeting
Batch 6
Vaishnavi 20261A1445 Project Guide:
Ravali 20261A1435
Shubham 20261A1426 Prof. G. Chandra Mohan
Manisha 20261A1417 PRINCIPAL
CONTENTS
o Abstract
o Introduction
o Components
o Mechanism
o Calculations
o Design
o Applications Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
Abstract:
The entertainment industry is rapidly incorporating robotics for diverse applications, from enhancing amusement park
attractions to revolutionizing film production with advanced camera control and special effects. Humanoid robots are also taking
center stage in the performing arts, contributing to dance, music, and opera performances, while social robots are becoming
integral for interactive guest experiences at events.
This project focuses on the design and development of a robotic arm specifically tailored for performing the NAMASKAR
gesture. Integrating precision mechanics. The robotic arm mimics the human motion involved in NAMASKAR, ensuring a
culturally respectful and accurate representation. The design prioritizes the adaptability for various user interactions.
This abstract highlights the fusion of traditional gestures with cutting-edge robotics, emphasizing cultural sensitivity and
technological innovation in human robot interaction.

Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
INTRODUCTION:
Greeting robots, also known as social or friendly robots, are designed to interact with humans in a
manner that simulates social interaction. These robots are equipped with advanced technologies
such as speech recognition, facial recognition, natural language processing, and expressive
capabilities to communicate with individuals in a human-like manner.
The main purpose of greeting robots is to create a positive and welcoming experience for users.
They are often deployed in public spaces such as airports, shopping malls, or hotels, where they can
greet and provide simple assistance to people. Greeting robots typically have a friendly appearance,
incorporating features like a humanoid or animal-like design, to establish a sense of familiarity and
approachability.
In addition to greeting and assisting individuals, these robots can also entertain and engage people
through interactive games, storytelling, or music performances. By providing a novel and enjoyable
experience, greeting robots aim to enhance customer service, create a positive atmosphere, and
potentially improve overall user satisfaction. While greeting robots offer convenience and
entertainment, it is important to note that they should not replace human interactions entirely.
They are designed to complement human presence and serve as a helpful addition to the overall Batch members:
VAISHNAVI 20261A1445
customer experience. By combining advanced technologies with a friendly demeanor, greeting MANISHA 20261A1417
robots contribute to the growing field of human-robot interaction and pave the way for future SHUBAM 20261A1426
advancements in social robotics. RAVALI 20261A1435
Components:
 SG5010 Servo Motor
 Customized Links
 Power Source

Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
MECHANISM:

The mechanism involved is Rotary motion about 2

different axes at the same position.

Degree of Freedom:
The number of independent variables that
define the possible positions or motions of a mechanical
system in space.

Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
CALCULATIONS: Data presented in Excel Sheet.

In cm

Hand Length 70

Location of mechanism from palm is at 40

Circumference of Hand (apx) 20

Diameter from circumference 6.366197724

20 milli seconds = 180 degrees Batch members:

VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
 SG 5010 servo motor specifications: length of arc: (l)
power-4.8v-6v DC max(5v) l= Θr,
Avg speed=0.2sec/60deg @ 4.8v for Θ =135 deg where r=0.4m
Avg speed=0.16sec/60deg @ 6v l=0.9424m
w=39g Torque: in kg-cm in Nm for Θ=30deg
Torque at 5v-5.5kg-cm 1kg-cm=9.8/100 N-m 1 0.098 l=0.2094m Degrees to Radians PI()/180

Torque at 6v-6.5kg-cm T=F*r 5.5 0.539 to convert into radians multiply by 0.01745329
spline count =25 T=1.1*9.8*L V(volts) I (amps) P=VI (watts)
5 0.2 1 Angle in degrees Θ 135 30
N (rpm) 17.71669125 Angle in radians Θ 2.35619449 0.523598776
voltage=5 L=0.05m length of moving arm r 0.4 0.4
current=200mA=0.2amp From Torque given in specs
Power=5*0.2=1W A=lumped mass of a motor N=17rpm length of arc in meters for 135deg 0.9424778
Torque=0.539N-m W=weight of the link for 1 sec ,0.286 rotations 17/60 length of arc in meters for 30deg 0.20943951
power=torque(Nm)*speed(rpm)/9.5488 L=perpendicular distance Velocity(m/sec) 0.742115028
N=17 rpm T=LA+0.5LW

A=39g 0.039 from specifications :

W=150g=0.15kg 0.075 for 60 deg ,time is 0.2 sec Radians Length(m) Deg ° Time(sec) No.of Rotations Speed(m/sec)
for 135 deg, time is 0.45sec 1.047197551 0.41887902 60 0.2 0.166666667 2.094395102
for 30deg, time is 0.1sec 2.35619449 0.942477796 135 0.45 0.375 2.094395102
0.523598776 0.20943951 30 0.1 0.083333333 2.094395102
L=0.4m 0.4 for 360 deg, time is 1.2 sec 6.283185307 2.513274123 360 1.2 1 2.094395102
T= in kg-m 0.0456 360 deg =1 rotation 314.1592654 125.6637061 18000 60 50 2.094395102
Required T in N-m 0.44688 for 60 sec , no. of rotations =50 rpm 60/1.2

Considering time for 180° is 20 milli seconds:

Seconds Milliseconds Deg°
1 1000 9000
0.001 1 9
0.02 20 180
0.015 15 135
0.003333333 3.333333333 30

Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
APPLICATIONS:
• Receptionist
• Customer Service
• Events and Exhibitions
• Healthcare
• Education
• Public Spaces
• Hospitality
• Elderly Care Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435
THANK YOU!
Queries?

Batch members:
VAISHNAVI 20261A1445
MANISHA 20261A1417
SHUBAM 20261A1426
RAVALI 20261A1435