Design and Fabrication of Six Degree of Freedom Anthropomorphic Robotic Arm

An articulated robotic arm is to be developed having six degrees of freedom which can be used to perform pick and place tasks with preferable accuracy. The project started with a thorough reading of pertinent research papers to get familiar with the current standing of robotic arms worldwide. After

Project Title

Design and Fabrication of Six Degree of Freedom Anthropomorphic Robotic Arm

Project Area of Specialization

Robotics

Project Summary

An articulated robotic arm is to be developed having six degrees of freedom which can be used to perform pick and place tasks with preferable accuracy. The project started with a thorough reading of pertinent research papers to get familiar with the current standing of robotic arms worldwide. After extensive research analysis, suitable materials and actuation systems are compared with the project’s scope and objective. The final decision is made with an analytical hierarchy process. CAD modeling is done to explore structural possibilities. Moreover, a complete mathematical formulation has been presented including structural analysis, selection of suitable material, and selection of an appropriate actuation system based on the dynamics of the arm. However, component acquisition, manufacturing, control algorithm planning, and testing are yet to be accomplished.

Project Objectives

The ultimate objective of this project is to design and develop an anthropomorphic robotic arm having similar dimensions and sizes as an adult human male arm. The arm’s control system is to be designed in such a way that it integrates machine learning within it. It is to be assured that the robotic arm must be as lightweight as possible, it would be equipped with the sensors and actuators which are controlled according to the designed control algorithm to successfully achieve all the relevant tasks assigned. The tasks include detecting and locating an object through sensors and controlling actuators to pick the object with acceptable accuracy and precision.

Project Implementation Method

The structural design is initially done on paper based on mathematical formulation and desired features, and then modeled on CAD software. The Structural strength analysis and testing are done using the finite element method. Based on the aforementioned analysis, material topology optimization is then employed to ensure minimum material usage which helps reduce the weight of the arm as well as the cost of the project. With the help of programming tools such as python, the kinematics and dynamics of the system are solved to select the appropriate motor size, bearing power, and gear ratios for the satisfactory angular joint movement of the arm. The designed control system is tested over Simulink where the sensors library can easily be employed.

Benefits of the Project

The humanoid arm designed and developed in this project can certainly contribute to industrial automation. The arm can be employed in place of humans in hazardous conditions. However, the adequate use of sensors and a thoughtful structural design enable it to work among humans as well. This arm can also be used on a rover without any significant changes to perform pick and place tasks in an open field and spaces inaccessible to humans. Moreover, the easily programmable control system makes it a versatile humanoid arm, which enables it to be integrated into a complete humanoid robot. Furthermore, with such a broad scope, the additional integration of machine learning in the control system makes it a useful tool in the medical as well, where it can easily be used as a prosthetic arm.

Technical Details of Final Deliverable

The final deliverable would be an aluminum humanoid arm hanged on a supporting rod, with adequate imitation of a human arm dexterity, accompanied by a user-friendly interface or a controlling device. It will be assured that the arm links, gears, bearings, and motors have enough strength to lift and hold the object while maneuvering. The control system would consist of an integrated electronic device to receive the position of the object’s drop off and pick up coordinates, a microprocessor such as Arduino would then send these coordinates to a programmed algorithm where those coordinates would be analyzed according to the singularity criterion and workspace limitations of the arm, then a signal shall be generated to proceed with the task.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Manufacturing

Other Industries

Medical , Agriculture

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

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