Control of Indigenously Developed Five DOF Robotic Manipulator

With the passage of time, Multi DOF manipulators have become the core attention of robotics engineers. A typical 5-DOF robot consists of 5 joints and it finds a number of applications in industry and related fields. This final year project is basically about the control of a 5-DOF robotic manipulato

Project Title

Control of Indigenously Developed Five DOF Robotic Manipulator

Project Area of Specialization

Robotics

Project Summary

With the passage of time, Multi DOF manipulators have become the core attention of robotics engineers. A typical 5-DOF robot consists of 5 joints and it finds a number of applications in industry and related fields. This final year project is basically about the control of a 5-DOF robotic manipulator with a nozzle for spray painting. The importance of controlling and trajectory planning of a manipulator can never be denied just as in manufacturing and design. The proposed project is finding great relevance with the core studies of Mechatronics Engineering and it is supposed to be used in the local garment industry. The purpose of the project is to automate the process of spray painting using a robotic manipulator. 

Project Objectives

The main objective of this final year project is to apply the engineering techniques for planning the trajectory, path, assembly, disassembly, and installation of a 5-DOF robot in a local garments industry. Moreover, learning the control process, programming, solving the automation problems of local industry, increasing efficiency of the process, reducing time and labor cost, and making the process easy are some other objectives. 

Project Implementation Method

This project is supposed to be implemented in a series of steps. The first step is spray nozzle selection and its installation. It is the most basic step because it is the main purpose of the addressed final year project. The second step is the interfacing of the handheld controller with the robot. The third step is trajectory generation and its planning. The fourth step is application development and implementation for the movement of the robotic arm. The fifth step is rigorous testing and improvement of control. Finally, the last step will be an installation in the industrial plant. 

Benefits of the Project

This industrial manipulator is supposed to find huge applications in local industries not only in Pakistan but also in other countries around the world. Automatic processes without any human involvement and reduced time and efficiency are the main traits of this 5-DOF manipulator. Moreover, a manipulator is a lift-assist device used to help workers lift, maneuver, and place articles in processes that are too heavy, too hot, too large, or otherwise too difficult for a single worker to manually handle. Our main goal is to use this robot for the spray painting of garments but modifying it can also be used for handling, picking, packing, palletizing, assembly, machine tending, spot welding, and so on. 

Technical Details of Final Deliverable

Following are some technical details of the project:

The end effector speed should be less than or equal to 1 m/s. 

The torques of joints J1, J2, J3, J4, and J5 are supposed to be 145 Nm, 145 Nm, 80 Nm, 80 Nm, and 45 Nm respectively. 

The payload capacity is supposed to be 3.5 kg. 

The power is supposed to be consumed through Ri180, Ri170, and Ri150 motors. 

The reach of the robotic arm is 1.205 m. 

The robot has a weight of 60kg.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Manufacturing

Other Industries

Core Technology

Robotics

Other Technologies

Sustainable Development Goals

Decent Work and Economic Growth, Industry, Innovation and Infrastructure, Responsible Consumption and Production

Required Resources

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