Working and Brief Study of robotic arm

WORKING AND BRIEF STUDY OF

ROBOTIC ARM

Under supervision of Dr.Haroon Ashfaq

Prepared by :- Ahsanul Haq (07-EES-02)

Ankit Kumar (08-EES-11 ) Nazeer Ahmad (06-EES-39)

Contents :-

Introduction Use of robotic arm Application Control Technology and working References

Introduction:-

What is robotic arm? A robotic arm is a controlled ,re-

programmable multifunction manipulator Design to move materials, parts tools, or

special devices through variable programme motions for the performance of variety of tasks.

Human arm's job is to move their hand from place to place.

The robotic arm's job is to move an end effector from place to place

J c b arm

Uses

Automobile Construction Health care: surgery , research, etc. Laboratories: science, engineering , etc. Manufacturing Military: demining, surveillance, attack, etc. Mining, excavation, and exploration Transportation: air, ground, rail, space, etc. Utilities: gas, water, and electric Warehouses Repairing

Uses of robotic arm

Robotic surgery packing in industry

Uses of robotic arm

Paint a car artificial arm

Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Assembly Painting on auto industry

APPLICATION

Control technology and working

Servo motor based robotic arm. The arm devised to perform some of the task

which can be perform by a human arm Degree of freedom , the no of joints

determine the degree of freedom of the arm. a place where it can bend or rotate or translate.

Generally robotic arm is a 6 degree of freedom.

We can increase the degree of freedom to increase the joints as per our need.

Robot Workspace

The workspace of robotic arm is all places that the end effector (gripper) can reach.

The workspace is dependent on the DOF angle/translation limitations, the arm link lengths

The workspace is highly dependent on the robot configuration.

Workspace

3 degree of freedom maximum of 180 degrees

Robotic arm with 5 degree of freedom

Mobility: It possesses some form of mobility.

Programmability: implying computational or symbol- manipulative capabilities that a designer can combine as desired (a robot is a computer). It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically.

Sensors: on or around the device that are able to sense the environment and give useful feedback to the device

Mechanical capability: enabling it to act on its environment rather than merely function as a data processing or computational device (a robot is a machine)

Flexibility: it can operate using a range of programs and manipulates and transport materials in a variety of ways

Essential characteristics

Base

Manipulator linkage

Controller

Sensors Actuators

User interface

Power conversion unit

Key Components

Key components

Sensor:- accelerometer, vision sensor ,force sensor

Actuator:- synchronous motor, stepper motor ac servomotor brushless dc servomotor brushed dc servomotor

Controller:- storage devices, computational engine

Interface unit:- analog to digital converter, operational amplifier

Main components

SensorscontrollerActuators

Actuators

Synchronous Asynchronous Brushless DC Servo Brushed DC Servo Stepper motor Traction Motor AC Servo Motors Pneumatic

Actuators

Stepper Motor DC Motor

Actuators

pneumatic motor servo motor

Controller Hardware: I

Provide necessary intelligence to control the manipulator/mobile robot

Process the sensory information and compute the control commands for the actuators to carry out specified tasks

Storage Devices

Controller Hardware: II

Computational engine that computes the control commands

RoboBoard Robotics Controller

Controller Hardware: III

Interface units: Hardware to interface digital controller with the external world (sensors and actuators)

Analog to Digital Converter

Operational Amplifiers

Sensors

Sensors

Tactile Sensors (Touch Sensors, Force Sensors) Ex:- limit switches, micro switches etc. Proximity Sensors Ex:- optical proximity sensors, magnetic field proximity

sensors. Range Sensors. Navigation Sensors. Ex:- Global Positioning Systems (GPS), Magnetic

Compasses. Vision Sensors Miscellaneous Sensors

Sensors

Vision sensor Force sensor

Servo level control of a robot manipulator

References:-

Control system engineering.(fifth edition). I J Nagrath, M. Gopal Topic - robotics on page 8

J.M. Lee, B.S. Park, Y.S. Lee, J.S. Ahn, S.H. Lee, S.J. Lim, C.S. Han, “The development of the robot manipulator for an intelligent service robot,” International Joint Conference on SICE-ICASE, pp. 282-287,2006

TechCast Article Series, Jason Rupinski and Richard Mix, "Public Attitudes to Androids: Robot Gender, Tasks, & Pricing" Gutkind, L. (2006). 

F. P. Preparata and M. I. Shamos, Computational Geometry: An Introduction. Springer, 1985.

Thank you