BITS Pilani

PARA: A 1m reach, 1kg payload, 3 DOF open

source robotic arm
BITS Pilani
Pilani|Dubai|Goa|Hyderabad
 Abstract

Maximum Reach = 940mm

Maximum Payload = 2kg
Precision = ± 2.6mm
End effector speed = 250mm/s
Cost = $ 3,400 or ₹ 2,81,730
Operating voltage = 75V
Base motor torque = 2.9Nm (0.9Nm)
Elbow and shoulder motor torque = 13Nm
(3.4Nm)

2 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Similar product

1. CML PARA
2. Ufactory Uarm Swift
3. Universal robotics UR3e
4. BCN3D Moveo
5. Thor
6. Trossen Robotics ViperX 250
7. EEZY Robots EEZYbotArm v2
8. Fanuc LR Mate 200iD
9. Oz Robotics Niryo One

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Dimensions

4 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Workspace

5 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Linkages

6 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Actuation

1. Base Joint

7 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Actuation

2. Shoulder Joint

8 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Actuation

3. Elbow Joint

9 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Torque and Safety factor

Axis Torque Available Safety

Required Torque factor

X 2.13 Nm 2.43 Nm 1.15

(7.83 Nm) (3.67)

Y 11.81 Nm 25.5 Nm 2.149

(97.5 Nm) (8.25)

Z 6.23 Nm 25.5 Nm 4.1

(97.5 Nm) (15.65)

10 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

SmoothieBoard

11 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Modifications and Analysis

Design Phase:
1. Recalculation of the gear reduction based on the stepper motor we order.
2. Modifications for the slots where the stepper motor will be placed.
3. Check the strength of the CAD model using software like ANSYS.

Testing Phase:
4. Precision test
5. Payload test

12 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Thank You

13 BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956