Course code: Meng306

Course name: Kinematics and dynamics of mechanical engineering

Supervised by: Dr. Ahmed Askar and Engr. Marwa Albadawy

Project report

Simple robotic arm

Team members:

Name ID
Moustafa Aly 19105936
Ahmed Elmenyawe 202000548
Eslam Eldeeb 202000346
Yahia Elmelegy 221000224
Karim
Malek Hassane 221000315
Course code: Meng306

Course name: Kinematics and dynamics of mechanical engineering

Supervised by: Dr. Ahmed Askar and Engr. Marwa Albadawy

Project report

Simple robotic arm

Team members:

Name ID
Moustafa Aly 19105936
Ahmed Elmenyawe 202000548
Eslam Eldeeb 202000346
Yahia Elmelegy 221000224
Karim
Malek Hassane 221000315
Mechanism Description:

1. Structural Components

The base: Usually, a mix of control systems and mechanical parts runs a basic robotic arm. its
working mechanism as follows:

The fixed component that secures the robotic arm to a surface is called the base. Another axis of
movement is possible if the base rotates.

Joints (Axes): The robotic arm can move in various directions due to its numerous joints, or
axes. A degree of freedom (DOF), like rotation or translation, is provided by each joint. Parts of
the arm can rotate around an axis due to rotational joints. Parts can move in a straight line
because of linear joints.

Links: The stiff components of the arm that join the joints are called links. In essence, the joints
represent the "joints" of a human arm, whereas the links are the "bones."

End effector: The robotic arm's "hand," or end effector, can be a tool, gripper, or other specific
attachment, depending on the task. It is the element that interacts with the surroundings.
2. Actuators

Actuators are motors that regulate the joints to propel arm movement.

Electric Motors: Often found in smaller or more accurate robotic arms, electric motors allow
joints to rotate.

Pneumatic Actuators: Compressed air is used by pneumatic actuators to propel rotation or

linear motion.

Hydraulic Actuators: Pressurized fluid is used by hydraulic actuators to provide strong

motions, usually for larger weights.

3. Sensors

The control system receives feedback from sensors to ensure safe and accurate functioning.

Position sensors: Such as encoders or potentiometers, measure the joints' angle or position.
Force sensors: Determine how much force the arm is applying.

Proximity sensors: Assist the arm in identifying items in its surroundings.

4. Control System

The robotic arm's brain is the control system. It receives sensor feedback, decodes commands,
and communicates with actuators to regulate motion.

Microcontroller or PLC: The movements of the robotic arm are frequently controlled by a
microcontroller or PLC.

Programming Interface: To control the robotic arm's movement, operators can enter programs
or directives. This could be input from AI systems, pre-programmed motions, or even manual
controls.

5. Degrees of Freedom (DOF)

Usually, a basic robotic arm has three to six degrees of freedom. One degree of freedom is
provided by each joint, including:

 Yaw rotation at the base

 Pitch-wise, bending at the "elbow"
 Rotation of the wrist
 Control of the end effector (grabbing or letting go of items)

6. Power Supply

For the actuators and control system to function, the robotic arm need a power supply. This
might be:

 Electric motors require electricity.

 For pneumatic systems, compressed air is used.
 For hydraulic systems, use hydraulic fluid.

Basic Workflow of a Robotic Arm:

 1. Command Input: Information is sent to the control system (either manually, via a
program, or via sensors).
2. Processing: After analyzing the input, the control system decides which movements are
required and communicates with the actuators.
3. Movement: To position the end effector, actuators move the joints.
4. End Effector Action: The task, like picking up an object, is carried out by the end
effector.
5. Feedback Loop: If required, sensors offer input to modify or improve the motion.

Related Applications:

A simple robotic arm has a wide range of related applications across various industries due to its
versatility, precision, and ability to perform repetitive tasks. Some of these applications are:

1. Manufacturing and Assembly

Pick and set: When moving components on an assembly line, for example, robotic arms are
utilized to pick objects from one area and set them in another.

Assembly: Product components can be put together by programming robotic arms to screw parts
together or insert them into a bigger assembly.

Sorting: Robotic arms are used to arrange goods or parts according to size, color, or other
attributes in sectors like electronics and auto production.

Quality Control: During the manufacturing process, robots equipped with sensors or cameras
can check products for flaws or irregularities.

2. Material Handling

Loading and Unloading: In factories and warehouses, robotic arms can load raw materials into
machines or unload finished products from conveyor belts.

Palletizing and Depalletizing: Robotic arms can arrange products on a pallet for shipment or
unpack products from a pallet, optimizing space and speed in logistics operations.
Packaging: Robotic arms are often used to pack goods into boxes or crates in industries like
food, pharmaceuticals, and consumer goods.

3. Welding and Soldering

Automated Welding: In sectors including construction, automotive, and aerospace, robotic arms
connected with welding torches perform accurate, repeatable welds.

Soldering: Robotic arms are used in electronics manufacturing to consistently and accurately
solder components onto circuit boards.

4. Painting and Coating

Spray Painting: To accurately apply paint to surfaces, robotic arms are utilized in the furniture
and automobile industries. By ensuring uniform coverage and minimizing overspray, the robot
conserves materials and lowers emissions.

Coating application: In a variety of industrial contexts, robotic arms are employed not just for
painting but also for applying protective coatings such as varnish, adhesives, or anti-corrosive
coatings.

5. Medical and Surgical Applications

Surgical Robots: Simple robotic arms, such as the Da Vinci robot, are frequently a component
of more complex surgical systems, helping surgeons carry out fewer painful treatments with
greater accuracy.

Medical Equipment Handling: In labs, robotic arms are employed to move samples, handle
fragile medical equipment, and help automate diagnostic procedures.

Assistive devices and prosthetics: In order to help people with physical limitations or mobility
challenges carry out daily duties, robotic arms are also included into prosthetics.
Design Constraints:

1. Degrees of Freedom (DOF)

How many independent motions the arm is capable of. Usually, a robotic arm has three to six
degrees of freedom.

Constraints: Increasing the number of degrees of freedom raises the necessary control system
sophistication, complexity, and expense. Less DOF, however, might restrict the arm's range of
motion and flexibility.

2. Weight and Payload Capacity

The robotic arm’s own weight as well as the heaviest weight it is capable of lifting (payload).

Constraint: The structure of the arm must sustain both the payload and its own weight without
buckling or reducing accuracy. Inaccurate movements or mechanical failure may result from
overtaxing the arm.

Impact on Design: The design needs to strike a compromise between being strong enough to
support the intended payload and being lightweight (for speed and energy efficiency).

3. Range of Motion

The actual volume or area that the robotic arm may move in.

Constraints: The arm's design is constrained by the joint's flexibility and link length. In order to
prevent accidents with other equipment or items, the range of motion must be appropriate for the
workspace.

Effect on Design: The range of motion of the arm influences its capacity to access all required
locations within its operational region. Longer arms might be necessary for larger work areas,
but this could potentially result in less accuracy.

4. Accuracy and Precision

Precision is the consistency of repeated motions, whereas accuracy is the arm's capacity to
achieve a target location.
Constraints: Enhanced accuracy and precision frequently require sophisticated control systems,
accurate actuators, and modern sensors, all of which raise expenses and complexity.

Impact on Design: The control algorithms and mechanical parts of the arm must be made to
reduce errors caused by wear, backlash, or outside pressures.

5. Speed and Responsiveness

How fast the robotic arm can change positions and how fast it moves.

Constraints: Because of mechanical play and inertia, speed increases may result in lower
precision. Strong motors and rapid, precise sensors are necessary for high-speed movements.

Impact on Design: To prevent overshooting or excessive vibration, the arm's motors, actuators,
and control systems must be built to strike a balance between speed and stability.

6. Material Selection

The selection of materials for the joints, linkages, and other parts of the robotic arm.

Constraints: The materials must be lightweight for energy efficiency and strong enough to hold
the arm and its load. Depending on the working environment, durability, heat resistance, and
corrosion resistance could also be crucial.

Impact on Design: Steel is frequently used for strength, aluminum for lightweight uses, and
composite materials for specific applications. Cost, weight, and toughness are all directly
impacted by the material selection.
References:

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