Design and Control of three DOF RRR planar redundant manipulator

Project Title

Design and Control of three DOF RRR planar redundant manipulator

Project Area of Specialization Mechatronics EngineeringProject Summary

Nowadays, enterprises employ automated equipment to carry out some predetermined jobs during the manufacturing process. However, automated machines are frequently prohibitively expensive and rigid in their ability to execute various jobs. Robotics has developed into a burgeoning research sector, with other countries contributing significant sums of money. We all know, Pakistan lags behind other countries in terms of research. To keep pace with the rest of the world and participate in the current wave of robotics penetration into the industry, work is underway to develop indigenous industrial-grade robots. The goal is to program the robot to execute tasks such as pick and place. The whole procedure is divided into software development, hardware design and control implementation. The software-based design takes kinematics algorithm development, mathematical modeling and CAD modeling into account and tests them. The robot conduct pick and place operations in a simulated environment in this segment. At the same time, the hardware design considers the manipulator's electronic circuits and mechanical construction. Finally, control implementation is done to get the desired outcomes/ to reach the desired end effector positions. Our project is a lab project or apparatus.

Project Objectives

1. Design of mechanical hardware portion using links (structural channel elements) & fixed base (iron alloy).
2. Use structural channel elements to minimize the bends in our structure as much as possible.
3. Completion of electronics hardware circuitary.
4. Fitment of pololu gear motors to provide proper required movement of links.
5. Implementation of PID control on motors to reach the final position of end effector.
6. Fitment of end effector (gripper) for pick & placement purpose & to provide a proper grip on objects.
7. Building a GUI (Graphical User Interface)

Project Implementation Method

Software Based Designing

1. CAD modeling in SolidWorks
2. CAD testing in ANSYS
3. Mathematical modeling using MATLAB
4. Control implementation using MATLAB
5. Integration of results of both
6. Building a GUI (Graphical User Interface) using GUIDE tool of MATLAB environment

Hardware Designing (Mechanical Portion)

1. Simple testing (DC Open loop)
2. Simple testing with sensors
3. Mechanical manufacturing
4. Troubleshooting

Harware Designing (Electronics Portion)

1. Purchasing all required components
2. Testing all components to check for malfunctioning in them
3. Completion of electronics circuitary
4. Troubleshooting

Benefits of the Project

With an unrelenting demand for increased profitability and the production of consistent quality finished goods, manufacturing industries are increasingly turning to computer-based automation. Nowadays, enterprises employ automated equipment to carry out some predetermined jobs during the manufacturing process. However, automated machines are frequently prohibitively expensive and rigid in their ability to execute various jobs. As a result of these constraints, the development of robots capable of performing various operational activities in a more flexible working environment at reduced production costs has been accelerated.

Robotics is a subfield of electrical, mechanical, control, and software engineering concerned with designing, creating, maintaining, and using robots that are controlled, communicate, and process information via computer systems. The control and mechanical aspects of robotics are responsible for the robot's trajectory tracking, or kinematics and dynamics, while the electrical component of robotics is responsible for powering the onboard sensors and actuators module. Through artificial intelligence techniques and the deployment of appropriate algorithms, the robot becomes intelligent and independent.

The major use of our project robo is in pick & placement of heavy parts or products from the conveyors in the inductries & place them somewhere around. The second use is to weld heavy parts where alot of heat discharges & it's impossible for human beings to work there as it's a hazardous environment. Robo can deal with that environment easily.

Technical Details of Final Deliverable

The robo consists of structural channel elements instead of plates so, there's only a minor bend in it's structure that is much less than that if we use plates.

The motors used are highley precised ones that gives us a resolution of 2700 PPR, they are pololu geared motors with encoders embedded on them. They can give us accurate feedback & completes our mechatronics closed loop project.

Gripper used, have teeths that can easily grip the objects & servo used that is driving our gripper is a high torque servo moto (mg996r) so, can hold the objects tightly. 

Project hardware is constructed up by iron alloys & links are of aluminium. No 3D printing technology is used so, it'll have a longer life time.

Final Deliverable of the Project HW/SW integrated systemCore Industry EducationOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	40000
37D Pololo gear motors	Equipment	3	10000	30000
Gripper	Equipment	1	1000	1000
Hardware Frame	Equipment	1	5000	5000
MG996 servo motor	Equipment	1	500	500
Wires, Jumpers & other things like them	Equipment	1	1000	1000
Camera	Equipment	1	2500	2500