Design Development and Control of four degree of freedom robotic manipulator

Project Title

Design Development and Control of four degree of freedom robotic manipulator

Project Area of Specialization RoboticsProject Summary

The proposed project involve the design, development and control of  four degree of freedom robotic manipulator . The robotic manipulator refers to the freedom of a rigid body in a three dimensional space. The project describe a mechanical system, design concept and prototype implementation of a four degree of freedom robotic manipulator. It performs various tasks such as pick and place of fragile objects. The robotic manipulator consist of  base, shoulder, elbow, wrist rotation and a functional gripper which is being controlled by Arm Cortex M3 micro controller. The Gripper has been built as end-effector and is capable of grasping diverse objects within own workspace of the arm possible.

Project Objectives

The main objectives of the project are:

• Design of four degree of freedom robotic manipulator with three degree of freedom wrist joint.
• Calculation of forward and inverse kinematics of robotic manipulator.
• Implementation of four degree of freedom robotic manipulator in MATLAB Robotic Tool Box using above calculated kinematics.
• Fabrication of four degree of freedom robotic manipulator.
• Implementation of control mechanism for four degree of freedom robotic manipulator.

Project Implementation Method

The implementation methodology of this project involves the calculation of Forward and Inverse Kinematics of the four degree of freedom robotic manipulator. This project contains a Lab view based GUI which is connected with the Arm cortex M3 micro-controller.The Arm cortex M3 micro-controller is controlled by commands delivered by laptop/PC.The Arm cortex M3 micro-controller controls the direction and PWM of motors by using the dual H-bridge module and the feedback is given back to the Arm cortex M3 micro-controller. The motors contain quadratue encoder that reads the value of rotation by the motors and share the information with the Arm cortex M3 micro-controller . The Arm cortex M3 micro-controller execute the program and control the motor by controllling the PWM.

Benefits of the Project

Following are some major applications of our project:

• The four degree of freedom robotic manipulator is widely used in industries e.g Assembly line , Palletizing and Automatic production systems .
• Perform surgical tasks such as stitching.
• Used in hospitals e.g recovery of people with disabilities, increase in antibiotic-resistant bacteria.
• Used for agricultural purpose such as harvesting and picking ,weed control.

Technical Details of Final Deliverable

1- Arm Cortex M3 (micro controller):

Following are the specifications of Arm cortex M3 which includes:

• Operating voltage 3.3 volts.
• Low Power. 32-bit Cortex-M3 designed for low power operation.
• High Performance. Cortex-M3 delivering 1.25 DMIPS/MHz.
• Thumb-2 Instruction Set Architecture (ISA) .
• 3-stage Pipeline Core Based on Harvard Architecture.
• Reducing the 32-bit Footprint.

2- DC Geared Motor:

Following DC geared motors are being used in the manipulator.

TG 35L AM 60 C480 :

Technical Specifications are:

• Output Power  (Mechanical)=30W
• Maximum Speed at Rated Voltage=139 RPM
• Rated Torque=10kg.cm
• Rated voltage=12 volts DC
• Rated Current=1.5A
• Weight=0.5 kg
• Encoder Resolution=360 CPR

Standard Servo-TowerPro SG-5010(180° Rotation):

Technical Specifications are:

• Model: SG5010.
• Weight: 39 gm.
• Operating voltage: 4.8V~ 6V.
• Servo Plug: JR.
• Stall torque @4.8V : 5.5kg-cm.
• Stall torque @6.6V : 6.5kg-cm.

3- L298N Dual H Bridge Motor Driver:

Technical Specifications are:

• Double H Bridge Drive Chip: L298N.
• Logical Voltage: 5V.
• Drive Voltage: 5V-35V.
• Logical Current: 0-36mA.
• Drive current: 2A (MAX single bridge).
• Max Power: 25W.
• Dimensions: 43 x 43 x 26mm.
• Weight: 26g.

4- Timing belts:

The belts used in manipulator are GT 2. GT2 belts have rounded teeth which reduces backlash.

• Length =1164mm (582 teeth on a 2mm tooth pitch).
• Width= 6mm.

5- Timing Pulleys:

Pulleys used in manipulator are GT 2 and the specifications are:

• Material = Aluminium.
• Pitch = 2mm.
• Width = 7 mm.
• Tooth number = 20.
• Bore = 6.35 mm .

Final Deliverable of the Project HW/SW integrated systemType of Industry Medical , Manufacturing Technologies RoboticsSustainable Development Goals Industry, Innovation and Infrastructure, Responsible Consumption and ProductionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	50740
Arm cortex M3(micro-controller)	Equipment	1	800	800
DC geared motors(C480, SG 5010)	Equipment	4	6200	24800
H-Bridges (L298N)	Equipment	4	860	3440
Timing pullyes and belts	Equipment	11	300	3300
Aluminium pullyes(motor)	Equipment	4	250	1000
Power supply and electronics	Equipment	1	3400	3400
Shafts	Equipment	6	200	1200
Acrylic Sheet(8mm)	Equipment	3	2600	7800
Overheads	Miscellaneous	1	5000	5000