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Supervised by: Dr. Buddhika Jayasekara Click to edit Master subtitle style
OVERVIEW
Design and development of a robot manipulator Purpose Perform basic object handling e.g. pick and place as a service
Application
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 33
11/2/12
By 3 DOF, the robot manipulator designed can be positioned according to users desire. 11/2/12 Group 16-Dept of 44
Wrist Rotation
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
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)
11/2/12
Group 16-Dept of
77
GUI
The GUI consists of 3 parts. i.e. the position input, dynamic behaviour and a 3D visualization of the robot arm movement.
11/2/12
Group 16-Dept of
88
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
11/2/12
Group 16-Dept of
10
11/2/12
Group 16-Dept of
11
MECHANICAL DESIGN
Elbow motor
Grippe r
11/2/12
Group 16-Dept of
12
Motor specs
COMPONENT SPECIFICATIONS
Torque: 39.8kg.cm at 7.2V Weight: 177.5g
Base/Shoulder Motors
Elbow Motor
Wrist Motor
Torque: 17.5kg.cm at 6V
Group 16-Dept of Weight: 56g 13
11/2/12
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.
11/2/12
Group 16-Dept of
14
DYNAMIC ANALYSIS
For selecting motors Considered both STATIC & DYNAMIC Torques Static Torque : Gravitational Dynamic Torque : Inertial + Coriolis (Centrifugal)
11/2/12
Group 16-Dept of
15
BASE MOTOR
Maximum torque of the selected motor
11/2/12
Group 16-Dept of
16
SHOULDER MOTOR
11/2/12
Group 16-Dept of
17
ELBOW MOTOR
Maximum torque of the selected motor
11/2/12
Group 16-Dept of
18
TRAJECTORY PLANNING
Eg: trajectory planning plot for a movement from 30 to 60 within 5 seconds is shown below
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Group 16-Dept of
19
11/2/12
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20
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
11/2/12 Group 16-Dept of 21
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
11/2/12 Group 16-Dept of 22
11/2/12
Group 16-Dept of
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11/2/12
Group 16-Dept of
24