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Robotics Assignment

This document summarizes the design of a novel 6 degree-of-freedom cable-driven handheld robot arm. The robot is optimized for speed, range of motion, and lightweight design. It uses 6 motors directly coupled to pulleys to drive the cables without needing joint encoders. The inverse kinematics problem is solved by splitting it into two separate 3 degree-of-freedom problems and then merging the solutions.

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Talha Yousuf
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
399 views

Robotics Assignment

This document summarizes the design of a novel 6 degree-of-freedom cable-driven handheld robot arm. The robot is optimized for speed, range of motion, and lightweight design. It uses 6 motors directly coupled to pulleys to drive the cables without needing joint encoders. The inverse kinematics problem is solved by splitting it into two separate 3 degree-of-freedom problems and then merging the solutions.

Uploaded by

Talha Yousuf
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Inverse Kinematics and Design of a

Novel 6-DoF Handheld Robot Arm


TalhaYousuf

Problem Statement
Design of a 6 Degrees Of Freedom has been explained in this paper. The robot falls under
category of Hand Held Robotics1 . The requirements of these robots being light weight, fast
and multi DOF. Such robots are mainly cable driven. Cable driven robots are a type of
parallel manipulators in which flexible cables are used as actuators. One end of each cable is
reeled around a rotor twisted by a motor, and the other end is connected to the end effector.

Dynamic analysis of parallel robots isnt same as cable driven robots because cables can only
pull an object, in other words forces in cables should be non-negative.

Workspace of a robot is a region in space where the end-effector is able to exert the required
force/moments when all cables are in tension.

Gregg-Smith and Mayol-Cuevas have done much research on workspace analysis and opti-
mization of handheld cable driven robots. Workspace and controllability of cable robots can be
enhanced by adding cables to structure of the robot. Redundancy2 plays a key role in design
of cable robots.

In this paper too Gregg-Smith and Mayol-Cuevas have optimized robotic arm to maximize
speed and configuration space alongwith reduction in mass. Moreover they also developed the
inverse kinematics of this robot. There are 6DOFs in total out of which 1 joint is redundant,
this leaves 5 DOFs. Inverse kinematics is solved by splitting 6DOFs into two 3DOF problems,
solving them separately and merging them in the end.

In a previous research work, Gregg-Smith and Mayol-Cuevas introduced the idea of a per-
sonal 4DOF cable driven robot, operating in toolspace, feedback is provided intuitively by end
effector pointing towards or away from goal. Two generic evaluation tasks were performed
being picking/placing objects and aiming in space.

Mechanical Design Considerations


In cable driven robots, configuration space is one of the primary concerns, also the cable
uptill end effector causes friction because it passes through all links. Owing this, and
1
Hand held robots bridge gap between wearable and external robots, they are equipped with sensing, actu-
ation and task knowledge to cooperate with users in performing tasks.
2
A manipulator is termed kinematically redundant when it possesses more degrees of freedom than it is
needed to execute a given task. Redundancy can be conveniently exploited to achieve more dexterous robot
motions.

1
Figure 1: Joint representation

Figure 2: Motor=Green, Blue=Link driving pulleys, Wires wrapped arounnd invisible idler
pulleys

restricting motion in 2 dimensions, through iterations on physical prototypes, a model


shown in Fig.1 is finalized.

As the axes are mostly parallel except 3rd & 4th hence it helps in solving inerse kinemtics
also minimizes cable friction as cable doesnt have to change direction strictly.

Unlike arm used by Horigome, Yamada, Endo, et al., this arm uses 6 motors.

This design removes need for joint encoders used by Horigome, Yamada, Endo, et al.
because motors are directly coupled to each pulley.

Fig.2 shows finalized model of the arm.

Fig.3 shows the 3R workspace, I st three links are revolute similar is case of rest three
joints but they are rotated by 90o . Gray area is workspace, its obvious, outer edge is when
1 , 2 , 3 = 0 and inner edge of annulur area is when 2 = 2max. Also Minimum distance
2
from link 1 3 is 2Lsin( ). Hence to maximize workspace, 2 = max.
2
For minimizing space, space carving method is used. Links are designed so that at nmax. ,
the links are closely packed.

2
Figure 3: Workspace analysis-3R arm

Whole thing is 3d printed and for motors, a V shaped bed is made for easy tensioning of
individual cables.

Solving the Inverse kinematics

Figure 4: Axes nomenclature

Analytical method is used to solve inverse kinematics3 . The strategy used is to split this
problem into two planar inverse kinemtics, as seen l3 is common to both planes, also each of
two planes has a redundant join so keeping l0 & l6 static, one can move l3 at many points along
line L. So there are two problems:

If pose of l3 & L is given, where should be l3 on L to prevent collisions between links


l0 , .., l3 and keeping relevant joints within limits.

If pose of L & l6 is given, where should be l3 on L to prevent collisions between links


l3 , .., l6 and keeping relevant joints within limits.

We get a specific no. of solutions from each one of the above problems, and later the overlap
region of two solution sets guarantees all constraints are met.

At the end a graceful degradation is done so that if arm doesnot have a full DOF solu-
tion, then inverse kinematics function gives a closest possible pose solution.

3
Computitional methods work iterativelyand hence give only nearest solution whilr analytical methods return
all possible solutions.

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