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Srikanth W.S.
Sumithrarachchi S.U. 080486N Tharaka A.D.P.M. 080494L 080499G Wickramarachchi S. 080537A
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
By 3 DOF, the robot manipulator designed can be positioned according to users desire.
Group 16-Dept of Electrical Engineering
Wrist Rotation
Grasping
MCP
SYSTEM OVERVIEW
User Commands
PC
Control Signals
USER
ROBOT MANIPULATOR
GUI
The GUI consists of 3 parts. i.e. the position input, dynamic behaviour and a 3D visualization of the robot arm movement.
KINEMATICS ANALYSIS
Denavit-Hartenberg parameters
Articulation d(m) a
1 2 3
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 Electrical Engineering
DH cont
1, 2, 3 Forward kinematics X,Y,Z
INVERSE KINEMATICS
X, Y, Z Inverse Kinematics
1, 2, 3
MECHANICAL DESIGN
Elbow motor
Thrust bearing
Gripper
COMPONENT SPECIFICATIONS
Motor specs
Base/Shoulder Motors
Elbow Motor
Wrist Motor
microserver
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.
DYNAMIC ANALYSIS
For selecting motors Considered both STATIC & DYNAMIC Torques Static Torque : Gravitational Dynamic Torque : Inertial + Coriolis (Centrifugal)
BASE MOTOR
Maximum torque of the selected motor
SHOULDER MOTOR
ELBOW MOTOR
Maximum torque of the selected motor
TRAJECTORY PLANNING
Eg: trajectory planning plot for a movement from 30 to 60 within 5 seconds is shown below
SAFETY MEASURES
Software Motor angle limits implemented through the software (0-100) Hardware Rounded edges
Limit switches
FUTURE WORK
Develop the software such that the user
can input a position in the x, y, z coordinates.