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Study and Analysis of Design Optimization and Synthesis of Robotic ARM
— A robot is a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuitry. Robots can be autonomous or semi-autonomous. In this thesis, design optimization strategies and synthesis for robotic arm are studied. In the design process, novel optimization methods have been developed to reduce the mass of the whole robotic arm. The optimization of the robotic arm is conducted at three different levels, with the main objective to minimize the robot mass. At the first level, only the drive-train of the robotic arm is optimized. The design process of a robotic arm is decomposed into selection of components for the drive-train to reduce the weight At the second level, kinematic data is combined with the drive-train in the optimization. For this purpose, a dynamic model of the robot is required. Constraints are formulated on the motors, gearboxes and kinematic performance At the third level, a systematic optimization approach is developed, which contains design variables of structural dimensions, geometric dimensions and drive-train composes. Constraints are formulated on the stiffness and deformation. The stiffness and deformation of the arm are calculated through FEA simulation. The main objective of the thesis is to design optimization and synthesis analysis of robotic arm. The corresponding deflections, stresses and strains for that load will be find out by suing the method of finite element analysis. Keywords— robotic arm, inverse kinematics, dynamics, Jacobian method, motor selection and drive train optimization.
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Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to ac...
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A humanoid robotics is a new challenging field. To co-operate with human beings, humanoid robots not only have to feature human like form and structure, but more importantly, they must prepared human like behavior regarding the motion, communication and intelligence. The model number of this beginner is ASR K-250. This paper we consider the mechanism and mechanical structure of ASR K-250 (Beginner) and its implementation.
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— The project is intended to cultivate a robotic vehicle that can sense metals ahead of it on its path similar to detecting land mines. The robot is controlled by a remote using RF technology. It consists of a metal detector circuit interfaced to the control unit that alarms the user behind it about a doubted land mine ahead. An 8051 series of microcontroller is used for the preferred operation. For controlling the movement of robot either to forward, backward & right or left commands are sent to the receiver by using push buttons of the transmitter. At the receiving end two motors are interfaced to the microcontroller where they are used for the movement of the vehicle. The RF transmitter acts as a RF remote control that has the advantage of sufficient range (up to 200 meters) with proper antenna, while the receiver decodes before serving it to another microcontroller to drive DC motors via motor driver IC for necessary work. A metal detector circuit is attached on the robot body and its operation is carried out automatically on sensing any metal underneath. The instant the robot senses this metal it produces an alarm sound through buzzer. This is to aware the operator of a probable metal (eg: land mine) ahead on its path. Further the project can be enhanced by mounting a wireless camera on the robot so that the operator can govern the movement of the robot remotely by observing it on a screen.
— The power transmission system is the system which causes movement of vehicles by transferring the torque produced by the engines to the wheels after some modifications. The transfer and modification system of vehicles is called as power transmission system. The power transmission system of vehicles consists of several components which encounter unfortunate failures. Propeller shaft and the universal joints form the important links that help in transmitting power from the engine to the wheels. In this study, analysis is being performed on the universal joint yoke and the propeller shaft. In the universal joint yoke, certain modifications are made in the existing geometry and analyzed for the identical loading and boundary conditions as in the reference paper from which the problem has been taken. It was observed that from the static analysis that the roots of the splines are the areas of high stress concentration. The fatigue analysis revels that the drive shaft fails in the region of high stress concentration as expected. In this project the propeller shaft of TATA 1210 was investigated for failures. Considering the system, torque acting on a shaft used to calculate the Stress analysis by using FEA and the results were compared with the calculated values. The stress in the shaft was exceeding the endurance limit causing failure in shaft, the shaft may have failed prematurely due to fatigue loads before the average life of truck. Thus it was important to redesign the shaft so that the induced stress is less than the endurance limit.
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This paper presents a research initiative on embodied cognition called RobotCub. RobotCub is an EU- funded project that aims at developing an open humanoid robotic platform and, simultaneously, following an original research path in synthetic cognition. We report on the motivations behind the realization of our humanoid robotic platform and the current status of the design just before the construction
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Robotics can play a significant role to increase efficiency and lighten the farmer's load. Despite challenges in the agricultural robotic designs, robots are capable of performing various tasks and changing themselves accordingly, based on specific conditions. To address modern problems in the agricultural field, an agricultural robot is one of the key technologies. Although agricultural robotic is still in the development stage, these particular robots have a bright future ahead. This paper proposes a new 5DOF articulated robotic arm design that would become a solution for heavy crop harvesting like pumpkin and cabbage . The main design process of the device was conceived using 6 stages of Shigley design process. All components were designed, assembled and analyzed by using Solidworks 2014 in compliance with JIS standards. The parts of the system that had dynamic nature were analyzed manually using standard mechanical formulas. Calculations of the workspace, required joint torque, and coordination of mass center position were developed using standard machine design methods. Denavit-Hartenberg method was used to calculate forward and reverse kinematics. To resolve the torque reduction, components were designed by different material and mass center and were compared together. Results showed that total torque in Joints number 1, 2, 3, 4 and 5 were 6.15, 257.35, 103.4, 20.2 and 0.1 í µí°í µí°. í µí°¦í µí°¦ respectively with a rotational speed range of 15 ~ 60 rpm. Changes in the linkage material and servo motor location improved 29.7% ~ 47.7% and 29.7% ~68.9% of the total required torque for each joint. The maximum distance covered by the arm was 1640 mm from the í µí°í µí° í µí¿í µí¿ and 1830 mm from the attachment point. According to the feedback received from a reverse kinematics equation algorithm, the fundamental operation of the robot arm had an optimal performance.
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A THESIS ON "SIX DEGREE ROBOTIC ARM WITH ... 3.1.2 Design and Development of 6-DOF Robotic Arm Controlled by Man Machine Interface. 9 9 9 10 . VI | P a g e 4. 3.1.3 Modelling & Analysis of a 6-DOF Robotic Arm Manipulator. 3.1.4 Dynamic Simulation & Motion Load Analysis of a 6- DOF Articulated Robotic Arm. ...
In this thesis, a modular design of a soft continuum robotic arm is developed. This design enables the connection of an arbitrary number of identical modules in order to build a snake-like robot in a plug-and-play fashion. After introducing the purpose and motivation of this research, the necessary basics for this project are presented, followed
Similar to the human arm, the proposed robotic arm consists of three sequentially connected modules, i.e., a 3 DOF shoulder module, a 1 DOF elbow module, and a 3 DOF wrist module.
This thesis focuses on design, implementation and control of a five degree of freedom (DoF) robotic arm using servo motors. The control of robotic arm is achieved by a PIC 16F877A microcontroller. The main duty of microcontroller is to generate pulse width modulation (PWM) signals which are applied to servo motors for achieving the desired ...
Master's Degree Thesis ISRN: BTH-AMT-EX--2016/D06--SE Supervisors: R.V Jhansi Rao, Signode India Limited (SIG) Sharon Kao-Walter, BTH ... The thesis examines the compelling design of a robotic arm i.e. a pick and place machine and auto feeding mechanism that improves the safety
Abstract and Figures. The project is a Robotic Arm that can identify different objects located in its workspace according to their shape and color and places the objects in a certain location with ...
The design objectives tree The robotic arm consists of three joints; the waist joint represented by rotation of the rotary table, the shoulder joint represented by the rotation of Link (1) and the ...
utilized to design and develop the robotic arm as displayed in the Fig. 2 [14]. 1) Robotic Arm: A robotic arm (Fig. 2) is a sort of arm which may be mechanical, and can be programmed with capabilities almost equivalent to an actual arm. The robotic arm can be aggregate of a component or a piece of a more advanced robot.
functionality is still theoretical. Figure 7 shows a photo of the current state of the robot arm system. As a result of working on the robotic arm project, I have gained tremendous knowledge in both mechanical and electrical engineering design and the tradeoffs associated with each one. Figure 7: Photo of Robot Arm System 3.1 Mechanical Subsystem
predicted that robot arms will serve an even more important role in the future coupled with AI, not only in factories but also in our households [3]. 1.2 Purpose The purpose of this Bachelor's Thesis project is to construct a prototype of a multipurpose robotic arm that is able to be controlled using dierent methods in MATLAB.
The most obvious characteristic of an industrial robot is its mechanical arm that is used to perform various industrial tasks. Industrial robots have a wide range of applications in industry manufacturing anything. In this paper, an effort is made to answer the questions about the origin and fundamentals of industrial robotics.
robotic arm in a controlled environment. The main contribution of this thesis is the presentation of a method that fully exploits the characteristics of a controlled environment and the targeted task speci c application. The main focus of this thesis is to create a strategy for motion planning for a robotic arm for a pick and place task.
v Declaration of Originality I, Madhusmita Senapati, Roll Number 613ME6008 hereby declare that this dissertation entitled Design and Control of an Articulated Robotic Arm using Visual Inspection for Replacement Activities presents my original work carried out as a Master of Technology (Research) of NIT Rourkela and, to the best of my knowledge, contains no material
panel. The robotic arm can be a complex system because it can have multiple degrees of freedom, movements in all planes and rotation about all axes. There are many types of end-effectors used in robotics, this thesis focuses on a gripper end-effector. An end-effector is a device that connects to the robot's wrist and to give it more
This thesis presents a PLC-based control system for a robotic arm that can perform various tasks such as picking, placing, sorting and welding. The thesis explains the design, implementation and testing of the system, as well as the advantages and challenges of using PLCs for robotic applications. The thesis also includes a comparison of PLCs with other control methods and a discussion of ...
Abstract and Figures. Within the project, a small 4-axis robotic arm has been designed, manufactured and tested. The forward and inverse kinematic equations are constructed for trajectory related ...
Articulated robots are ideal for general-purpose applications requiring fast, repeatable, and articulate point-to-point movements such as palletizing, machine loading/unloading, and Figure 1.1: ARTICULATED ROBOTIC ARM assembly. Other tasks that are ideal include spray painting, welding, and sealing applications.
present a model of how to size the motors for a robotic arm. -Chapter 5 contains a design brief with performances which a robotic arm build with the knowledge presented in this paper should meet. -Chapter 6 Uses the boundary conditions from the design brief to determine a list of components that, in theory, meet the desired performances.
PDF | On Feb 1, 2019, Dawoud Sadder and others published robot arm project | Find, read and cite all the research you need on ResearchGate
2.1 Robotic Arm The Robotic Arm shown in Figure 2.1 below is from the Saimaa laboratory. This robot has five axes which are driven by DC motors (24Vdc) and it is made to be controlled manually by using sets of two potentiometers for each joint. To control a single joint, two potentiometers are used connected to each other in a feedback
In this thesis, design optimization strategies and synthesis for robotic arm are studied. In the design process, novel optimization methods have been developed to reduce the mass of the whole robotic arm. The optimization of the robotic arm is conducted at three different levels, with the main objective to minimize the robot mass.
This project describe a mechanical system, design concept and prototype implementation of a 6 DOF robotic arm, which should perform industrial task such as pick and place of fragile objects ...
Abstract. This paper discusses the design and fabrication of a pick and place robotic arm. The robotic arm is intended for educational purposes. In this paper, we are designing the robotic arm for ...