Design and Development of a system for mimicking human arm motion by a six Degree of Freedom Manipulator

Project Title

Design and Development of a system for mimicking human arm motion by a six Degree of Freedom Manipulator

Project Area of Specialization RoboticsProject Summary

The idea is about to design and develop a manipulator which can mimic exactly the motion of a human arm for grasping, picking and placing of various objects whilst having five degree of freedom (DOF). The designing of numerous parts of manipulator such as brackets, base, and rods etc. is done by using CAD software. Calculation of hardness parameters are done with the help of stress-strain analysis on each part of it. Data acquisition is done by developing a control circuitry using the sensor Inertial Measurement Unit (IMU) which gives readings (linear as well as angular) according to the motion of human arm in the form of angles in X, Y and Z axis direction. The acquired data is then fetched to the controller (ARM cortex STM) which generates PWM and yields the movement of motors. There is a griper attached at the end of the manipulator for mimicking the opening and closing gesture of the human arm. The recording of signals form the human forearm is done using Flex sensor by changing its resistance.

Project Objectives

Design of a 6-DOF robotic arm using servo motor and brackets.

RC-servo motor control using Arm-microcontroller

Integration of IMU’s with Arm-microcontroller.

Fore arm and upper arm angle measurement using IMU’s.

Opening and closing of gripper using Flex Sensor

Project Implementation Method

Requirment:

Due to work load in an industry this project helps working staff  to perform  specific task(e.g packing, holding heavy parts) due to their mimicking operation.This will help the industry both in financial and time saving.

Design:

Designing of project involve many software for CAD designing creo parametric 5.0 will be used and for circuit designing proteous 8.0 used.

Fabrication:

After the completion of design the next step is to start its fabrication.The project is fabricated by using different materials like aluminium and wood.

Testing:

Take different values from the sensor and try to control servo motors.According to the result small changes can be made (if error occurs).

Benefits of the Project

Militiary Operations:By its operation of mimicking human arm this will help the arm soldiers for shooting  guns over enemies.

Industries:This will help the working staff for carrying some apparatus.

Biomedical Rehabilitation: For disabled or paralyzed persons.

Technical Details of Final Deliverable

Arm-Cortex(STM32F103C8):

Arm cortex Stm32f103c8 widely used in industries where high processing is required.

Specifications:-

•Clock Frequency is 72Mhz.

•Flash Memory 64 kbyte.

•Pulse width Modulation(PWM) channels are 15.

•PWM Resolution is 16 bits.

•2 Inter integrated Circuits (I2C) Buses.

•2 Serial Peripheral Interface (SPI) Buses.

Inertial muesurment Units(IMU's):

The MPU6050 is a six-axis IMU sensor which means that it gives  six values as output three values from accelerometer and three from the gyroscope.

Specifications:-

•Power supply 3~5V Onboard regulator.

•Communication through I2C protocol.

•Chip built-in16bit AD converter,16bit data output.

•Acceleration range: +/- 2g, +/- 4g, +/- 8g, +/- 16g.

•An accelerometer works on the principle of piezo electric effect.

RC Servo Motor (MG 945):

Servomotor is a rotary actuator or linear actuator that allows for precise control of linear angular positon.

Specifications:-

• It is lightweight with high Output Torque.

• Servo can rotate 360 Degree.

•Torque is 14kg/cm.at 4.8v.

•Operating Voltage is  4.8v-8.4v

Flex Sensor:

As the sensor is flexed, the resistance across the sensor increases. The resistance of the flexsensor changes when the metal pads are on the outside of the bend.

Operating  voltage  5V

Can operate on LOW voltages

Power rating : 0.5Watt.

Flat Resistance: 25K ?

Resistance Tolerance: ±30%

Bend Resistance Range: 45K to 125K Ohms.

Final Deliverable of the Project Hardware SystemType of Industry Manufacturing Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	31340
Arm Cortex	Equipment	3	700	2100
IMU's	Equipment	4	500	2000
Servo motors	Equipment	6	900	5400
Flex Sensor	Equipment	1	2700	2700
Aluminium Material(parts)	Equipment	10	1000	10000
jumper wires	Equipment	80	5	400
PCB	Equipment	2	250	500
soldering iron	Equipment	1	250	250
project stand	Equipment	1	1500	1500
cable ties	Equipment	30	8	240
USB to TTL	Equipment	3	250	750
Gripper	Equipment	1	700	700
printing	Miscellaneous	6	800	4800