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Apresentation - Final Project

This document summarizes a final project for an intro to robotics course. It involves designing a 6 degree of freedom robotic arm using CAD software. Inverse kinematics were analytically solved for the arm. Two paths were developed for the end effector: a sphere path where it aims for the center and a phrase path where it traces the letters in an ellipse around the phrase "That's all folks!". Pseudocode is provided and a demonstration was given. The document concludes by thanking the reader and providing contact information for the student team.

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Vũ Mạnh Cường
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38 views12 pages

Apresentation - Final Project

This document summarizes a final project for an intro to robotics course. It involves designing a 6 degree of freedom robotic arm using CAD software. Inverse kinematics were analytically solved for the arm. Two paths were developed for the end effector: a sphere path where it aims for the center and a phrase path where it traces the letters in an ellipse around the phrase "That's all folks!". Pseudocode is provided and a demonstration was given. The document concludes by thanking the reader and providing contact information for the student team.

Uploaded by

Vũ Mạnh Cường
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Final Project

Intro to Robotics
ME4140 - Dr. Stephen Canfied

Adriano Henrique Rossette Leite


Matheus Mirapalheta Longaray
Michael Robson Araujo Leite
Summary
● Introduction
● Robotic Arm
● Inverse Kinematics
● Path
○ Sphere
○ Phrase
● Pseudocode
● Demonstration
Introduction
● Six degrees-of-freedom robotic arm

● Six revolute joints

● The last three joints form a wrist configuration


Robotic Arm
● It was designed using 3D CAD Design Software
SolidWorks

● Once designed, all the parts were assembled to inspect


some arm’s motion aspects such as the limit angles of
the joints.
Robotic Arm
Inverse Kinematics
● Analytically solved for all joints variables

● It was needed minor changes on the original design


○ Simplified solution

● When there were two possible solutions for a variable


○ The closest one to the prior value was chosen
Path
● Two paths were developed
● Sphere
○ The end-effector aims to the center the whole time
■ Welding idea

● Phrase
○ “That’s all folks!”
○ Ellipse path around the phrase
Sphere
● The Jacobian Matrix, which is used to transfer cartesian to
spherical coordinates, was used to calculate the end-effector
orientation

● As the end-effector moves vertically along the sphere, the


number of points in that circumference changes due to
resolution issues
○ circumferences located near poles, the number is smaller.
○ however, for those near the midst part, the number is greater
and constant.
Phrase
● End-effector aims to the letters
○ Writing appearance

● Some points were added on Z-direction


○ End-effector steps back after each movement

● Ellipse circulates around the phrase


○ A funny soundtrack was added
Pseudocode
➔ STL file readings
➔ Objects are moved to their origin and orientation
➔ H&D table
➔ Set arm’s initial position and orientation using forward kinematics
➔ Sphere path
◆ for loop
● Inverse kinematics
● Forward kinematics
● Animation/plot
➔ Phrase path
Demonstration
Questions?!
Thank you!

Adriano Henrique Rossette Leite - adrianohrl@gmail.com


Matheus Mirapalheta Longaray - longaray.matheus@gmail.com
Michael Robson Araujo Leite - email

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