1.
Revised Sections
Incorporate Feedback:
Based on the feedback received on the previous report, we revised the
following sections:
Introduction: Clarified the purpose and applications of the
robotic arm.
Mechanism Function: Expanded the discussion on alternative
mechanisms.
Design Objectives and Constraints: Added specific
measurable criteria.
Design Conceptualization: Enhanced the justification for the
selected design.
Motion Transmission: Provided more detail on the motor
selection.
2. Mechanism Function
Functions of Various Mechanisms:
The robotic arm can perform various tasks such as pick-and-place
operations, assembly, and welding. Alternative mechanisms that can
achieve similar functions include:
Cartesian Robots: Utilize linear actuators to move in straight
lines along the X, Y, and Z axes.
Innovative Motion Creation:
To create the intended motion, we explored the use of:
Servo Motors/DC Motor: For precise control of joint angles.
Cable-Driven Systems: To reduce weight and increase
flexibility.
3. Design Objectives and Constraints
Design Objectives:
Minimum weight: The arm should weigh less than 5 kg for easy
mobility.
Minimum power: Power consumption should not exceed 50W.
Cost-effectiveness: Total cost should be under 1500EGP.
Design Constraints:
Minimum force required: Each joint must handle a minimum load of 2
kg.
Required cycle time: The arm should complete a full cycle (pick and
place) in under 30 seconds.
Available motor power: The total power supply must be compatible
with standard 12V motors.
Assumptions:
The robotic arm operates in a controlled environment, minimizing
external disturbances.
The payload is consistent and does not exceed the specified limits.
4. Design Conceptualization
Creative Thinking:
Design requirements were gathered through brainstorming sessions,
focusing on flexibility, precision, and ease of control.
Considered various configurations (e.g., 2-DOF, 3-DOF) to achieve the
desired range of motion.
Concept Selection:
After evaluating several designs, and calculation and doing the CAD
design we reached that on the CAD model we had 4 DOF and the
concept design we calculated 3 DOF so to make it simple we selected a
3-DOF robotic arm with three rotational joints. This design provides a
good balance between complexity and functionality.
Degree of freedom:
M =3 (L−1)−2 J 1−J 2
M: degree of freedom or mobility
L: number of links
𝐽1: number of full joints
𝐽2: number of half joints
In our robotic arm we have 4 links, 3 joints.
M= 3(4-1) - (2*3)- 0
M=3 D.O.F
Justification: The selected design allows for a wide range of motion, is
cost-effective, and is easier to control with standard servo motors.
Schematic and 3D Model:
A schematic diagram of the robotic arm is included below:
A 3D model has been created using CAD software (e.g., SolidWorks)
and is shown below:
5. Motion Transmission
Transmission Mechanism:
The robotic arm is driven by three servo motors, one for each joint.
Each motor is directly connected to its respective joint, allowing for
precise control of the arm's position.
A gearbox is not required as the servo motors provide sufficient torque
and speed for the intended tasks.
The selected servo motors (e.g., MG996R) have a torque rating of 9.4
kg/cm, which is adequate for handling the load.
6. Synthesis
Graphical Techniques
In this study, kinematic analysis was performed using graphical
methods to determine the positions of the robotic arm's end effector
based on joint angles.
Geometric Kinematics
Geometric kinematics provides an intuitive approach to analyze the
motion of robotic arms by utilizing basic geometric principles. This
method focuses on the relationships between the joints and links of the
robotic arm, allowing us to calculate the position of the end effector
based on the angles of the joints and the lengths of the links.
Link and Joint Representation:
The robotic arm consists of two links, each with a length of (L_1) and
(L_2), connected by two revolute joints. The angles of these joints are
denoted as (theta_1) and (theta_2).
Position Calculation:
The position of the end effector ((x, y)) can be calculated using the
following trigonometric equations:
x=x 2=l 1 cos ( θ1 ) +l 2 cos (θ1 +θ2 )
y= y 2=l 1 sin ( θ1 ) +l 2 sin ( θ 1+ θ2)
Where l1 and l2 are the lengths of the two links. The orientation of the
tool frame relative to the base frame is also given by the direction of
the cosines of the x2 and y2 axes with respect to the x0 and y0 axes.
x 2 ⋅ x 0=cos ( θ1 +θ2 )
x 2 ⋅ y 0=−sin(θ 1+θ 2)
y 2 ⋅ x 0=sin ( θ1+ θ2)
y 2 ⋅ y 0=cos (θ1 +θ 2)
These four equations can be combined to obtain an orientation
matrix.
|
x2 ∙ x0
x2 ∙ y || =
y 2 ∙ y 0 sin (θ 1+θ 2) cos ( θ1+ θ2)|
y 2 ∙ x 0 cos (θ 1+θ 2) −sin (θ 1+θ 2)
By substituting the lengths of the links and the joint angles into these
equations, we can determine the exact position of the end effector in a
2D plane.
Visualization:
A graphical representation of the arm was created to illustrate how the
end effector's position changes with varying joint angles. This
visualization aids in understanding the workspace of the robotic arm
and the impact of each joint's rotation.
Inverse Kinematics:
To determine the necessary joint angles to reach a specific target
position, we applied basic trigonometric relationships. This involved
rearranging the position equations to solve for (theta_1) and (theta_2),
facilitating effective control of the robotic arm.
Advanced Techniques:
Simulations using software (e.g., MATLAB) to visualize the arm's motion
and validate the design parameters for future work
Conclusion
This report outlines the design and functionality of a simple robotic arm
capable of executing pick-and-place tasks. By incorporating feedback and
engaging in creative design processes, we developed a robust mechanism
that meets the specified objectives and constraints. Future work could involve
integrating sensors for feedback control and enhancing the arm's capabilities.
References
Robotics: Control, Sensing, Vision, and Intelligence by John J. Uicker Jr.
Introduction to Robotics: Mechanics and Control by John J. Craig
SolidWorks User Guide
