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WORKING AND BRIEF STUDY OF
ROBOTIC ARM
Under supervision of Dr.Haroon Ashfaq
Prepared by :- Ahsanul Haq (07-EES-02)
Ankit Kumar (08-EES-11 ) Nazeer Ahmad (06-EES-39)
Contents :-
Introduction Use of robotic arm Application Control Technology and working References
Introduction:-
What is robotic arm? A robotic arm is a controlled ,re-
programmable multifunction manipulator Design to move materials, parts tools, or
special devices through variable programme motions for the performance of variety of tasks.
Human arm's job is to move their hand from place to place.
The robotic arm's job is to move an end effector from place to place
J c b arm
Uses
Automobile Construction Health care: surgery , research, etc. Laboratories: science, engineering , etc. Manufacturing Military: demining, surveillance, attack, etc. Mining, excavation, and exploration Transportation: air, ground, rail, space, etc. Utilities: gas, water, and electric Warehouses Repairing
Uses of robotic arm
Robotic surgery packing in industry
Uses of robotic arm
Paint a car artificial arm
Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Assembly Painting on auto industry
APPLICATION
Control technology and working
Servo motor based robotic arm. The arm devised to perform some of the task
which can be perform by a human arm Degree of freedom , the no of joints
determine the degree of freedom of the arm. a place where it can bend or rotate or translate.
Generally robotic arm is a 6 degree of freedom.
We can increase the degree of freedom to increase the joints as per our need.
Robot Workspace
The workspace of robotic arm is all places that the end effector (gripper) can reach.
The workspace is dependent on the DOF angle/translation limitations, the arm link lengths
The workspace is highly dependent on the robot configuration.
Workspace
3 degree of freedom maximum of 180 degrees
Robotic arm with 5 degree of freedom
Mobility: It possesses some form of mobility.
Programmability: implying computational or symbol- manipulative capabilities that a designer can combine as desired (a robot is a computer). It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically.
Sensors: on or around the device that are able to sense the environment and give useful feedback to the device
Mechanical capability: enabling it to act on its environment rather than merely function as a data processing or computational device (a robot is a machine)
Flexibility: it can operate using a range of programs and manipulates and transport materials in a variety of ways
Essential characteristics
Base
Manipulator linkage
Controller
Sensors Actuators
User interface
Power conversion unit
Key Components
Key components
Sensor:- accelerometer, vision sensor ,force sensor
Actuator:- synchronous motor, stepper motor ac servomotor brushless dc servomotor brushed dc servomotor
Controller:- storage devices, computational engine
Interface unit:- analog to digital converter, operational amplifier
Main components
SensorscontrollerActuators
Actuators
Synchronous Asynchronous Brushless DC Servo Brushed DC Servo Stepper motor Traction Motor AC Servo Motors Pneumatic
Actuators
Stepper Motor DC Motor
Actuators
pneumatic motor servo motor
Controller Hardware: I
Provide necessary intelligence to control the manipulator/mobile robot
Process the sensory information and compute the control commands for the actuators to carry out specified tasks
Storage Devices
Controller Hardware: II
Computational engine that computes the control commands
RoboBoard Robotics Controller
Controller Hardware: III
Interface units: Hardware to interface digital controller with the external world (sensors and actuators)
Analog to Digital Converter
Operational Amplifiers
Sensors
Sensors
Tactile Sensors (Touch Sensors, Force Sensors) Ex:- limit switches, micro switches etc. Proximity Sensors Ex:- optical proximity sensors, magnetic field proximity
sensors. Range Sensors. Navigation Sensors. Ex:- Global Positioning Systems (GPS), Magnetic
Compasses. Vision Sensors Miscellaneous Sensors
Sensors
Vision sensor Force sensor
Servo level control of a robot manipulator
References:-
Control system engineering.(fifth edition). I J Nagrath, M. Gopal Topic - robotics on page 8
J.M. Lee, B.S. Park, Y.S. Lee, J.S. Ahn, S.H. Lee, S.J. Lim, C.S. Han, “The development of the robot manipulator for an intelligent service robot,” International Joint Conference on SICE-ICASE, pp. 282-287,2006
TechCast Article Series, Jason Rupinski and Richard Mix, "Public Attitudes to Androids: Robot Gender, Tasks, & Pricing" Gutkind, L. (2006).
F. P. Preparata and M. I. Shamos, Computational Geometry: An Introduction. Springer, 1985.
Thank you