Under supervision of
Dr.Haroon Ashfaq
Ahsanul Haq (07-EES-02) Ankit Kumar (08-EES-11 ) Nazeer Ahmad (06-EES-39)
Prepared by :-
Introduction Use of robotic arm Application Control Technology and working References
What is robotic arm?
A robotic arm is a controlled ,reprogrammable 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
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
Robotic surgery
packing in industry
Paint a car
artificial arm
Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Assembly Painting on auto industry
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.
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.
3 degree of freedom
maximum of 180 degrees
Essential characteristics
Mobility: It possesses some form of mobility.
Programmability: implying computational or symbolmanipulative 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
Power conversion unit Sensors Actuators
Controller
User interface
Manipulator linkage Base
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
Sensors controller Actuators
Synchronous Asynchronous Brushless DC Servo Brushed DC Servo Stepper motor Traction Motor AC Servo Motors Pneumatic
Stepper Motor
DC Motor
pneumatic motor
servo motor
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
Computational engine that computes the control commands
RoboBoard Robotics Controller
Interface units: Hardware to interface digital controller with the external world (sensors and actuators)
Operational Amplifiers Analog to Digital Converter
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
Vision sensor
Force sensor
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.
