Development of an Affordable 7-DOF Robotic Arm for Education in Mechanisms and Robotics

2016 ◽  
Author(s):  
Stylianos Kavousanakis ◽  
Anthony H. Jones ◽  
Stefan Kenway ◽  
Guowu Wei
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Structure Design ◽  
Robotic Arm ◽  
Robot Arm ◽  
Level Control ◽  
Robotic Arms ◽  
Postgraduate Level ◽  
Automation And Control ◽  
And Robotics

Although there are a number of commercialized 7-DoF robotic arms that are suitable for industrial applications and project research use, the high cost of such robotic arms has impeded the hands-on sessions constructed in the undergraduate and postgraduate level courses/modules for the purpose of studying, understanding and investigating of the redundant 7-DoF robotic arm for the education in mechanisms and robotics. In order to provide an affordable solution, this paper presents the development of a low-cost module-based 7-DoF robotic arm. Structure design of the robot arm is introduced and its kinematics is formulated based on product of exponentials representation. By using 3D printing system, the proposed robotic arm is then fabricated and assembled, and integrated with servo motors and Arduino low-level control kits, a functionally feasible prototype is developed. Tests are subsequently carried out so as to check the performance of the proposed robotic arm and to identify errors and defects for improving and optimizing the design. Integrating with MATLAB Robotic Toolbox and Arduino low-cost control platform, the robotic arm presented in this paper can be used for the purpose of mechanisms and robotics education in the courses such as robotic kinematics, automation and control, and robotic programming and planning.

scholarly journals Low-Cost Automation for Gravity Compensation of Robotic Arm

2020 ◽  
Vol 10 (11) ◽  
pp. 3823
Author(s):  
William Montalvo ◽  
Juan Escobar-Naranjo ◽  
Carlos A. Garcia ◽  
Marcelo V. Garcia
Keyword(s):  
Low Cost ◽  
Industrial Applications ◽  
Robotic Arm ◽  
Raspberry Pi ◽  
Gravity Compensation ◽  
Pd Control ◽  
End Effector ◽  
Robotic Arms ◽  
Position Errors ◽  
Control Scheme

During the Industry 4.0 era, the open source-based robotic arms control applications have been developed, in which the control algorithms apply for movement precision in the trajectory tracking paths based on direct or reverse kinematics. Therefore, small errors in the joint positions can summarize in large position errors of the end-effector in the industrial activities. Besides the change of the end-effector position for a given variation of the set-point in manipulator joint positions depends on the manipulator configuration. This research proposes a control based on Proportional Derivative (PD) Control with gravity compensation to show the robustness of this control scheme in the robotic arm’s industrial applications. The control algorithm is developed using a low-cost board like Raspberry Pi (RPI) where the Robot Operating System (ROS) is installed. The novelty of this approach is the development of new functions in ROS to make the PD control with gravity compensation in low-cost systems. This platform brings a fast exchange of information between the Kuka™ youBot robotic arm and a graphical user’s interface that allows a transparent interaction between them.

scholarly journals Design Of 4DOF 3D Robotic Arm to Separate the Objects Using a Camera

2021 ◽  
Vol 3 (1) ◽  
pp. 27-35
Author(s):  
Akhmad Fahruzi ◽  
Bimo Satyo Agomo ◽  
Yulianto Agung Prabowo
Keyword(s):  
Inverse Kinematics ◽  
Robotic Arm ◽  
Robot Arm ◽  
Fixed Position ◽  
End Effector ◽  
Robotic Arms ◽  
Work Area ◽  
Intended Object ◽  
Place Of Origin ◽  
Prototype Design

Nowadays robotic arm is widely used in various industries, especially those engaged in manufacturing. Robotic arms are usually used to perform jobs such as picking up and moving goods from their place of origin to the location desired by the operator. In this study, a 3d 4 DOF (Degree of Freedom) robotic arm. The prototype was made to move goods with random coordinates to places or boxes whose coordinates were determined in advance. The robot can know the coordinates of the object to be taken or moved. The arm robot prototype design is completed with a camera connected to a computer, where the camera is installed statically (fixed position) above the robot's work area. The camera functions like image processing to detect the object's position by taking the coordinates of the object. Then the object coordinates will be input into inverse kinematics that will produce an angle in every point of the servo arm so that the position of the end effector on the robot arm can be founded and reach the intended object. From the results of testing and analysis, it was found that the error in the webcam test to detect object coordinates was 2.58%, the error in the servo motion test was 12.68%, and the error in the inverse kinematics test was 7.85% on the x-axis, the error was 6.31% on the y-axis and an error of 12.77% on the z-axis. The reliability of the whole system is 66.66%.

scholarly journals Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jie Cai ◽  
Jinlian Deng ◽  
Wei Zhang ◽  
Weisheng Zhao
Keyword(s):  
Robot Manipulator ◽  
Algebraic Method ◽  
Modeling Method ◽  
Inverse Solution ◽  
Geometric Method ◽  
Experimental Simulation ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Joint Variable

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

scholarly journals Design and Implementation of a Robotic Arm Assistant with Voice Interaction Using Machine Vision

Automation ◽  
2021 ◽  
Vol 2 (4) ◽  
pp. 238-251
Author(s):  
George Nantzios ◽  
Nikolaos Baras ◽  
Minas Dasygenis
Keyword(s):  
Quality Of Life ◽  
Low Cost ◽  
Kinematic Model ◽  
High Accuracy ◽  
Robotic Arm ◽  
High Definition ◽  
Robotic Arms ◽  
Voice Interaction ◽  
Robotic Assistant

It is evident that the technological growth of the last few decades has signaled the development of several application domains. One application domain that has expanded massively in recent years is robotics. The usage and spread of robotic systems in commercial and non-commercial environments resulted in increased productivity, efficiency, and higher quality of life. Many researchers have developed systems that improve many aspects of people’s lives, based on robotics. Most of the engineers use high-cost robotic arms, which are usually out of the reach of typical consumers. We fill this gap by presenting a low-cost and high-accuracy project to be used as a robotic assistant for every consumer. Our project aims to further improve people’s quality of life, and more specifically people with physical and mobility impairments. The robotic system is based on the Niryo-One robotic arm, equipped with a USB (Universal Serial Bus) HD (High Definition) camera on the end-effector. To achieve high accuracy, we modified the YOLO algorithm by adding novel features and additional computations to be used in the kinematic model. We evaluated the proposed system by conducting experiments using PhD students of our laboratory and demonstrated its effectiveness. The experimental results indicate that the robotic arm can detect and deliver the requested object in a timely manner with a 96.66% accuracy.

scholarly journals Low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications

2020 ◽  
Vol 1 (2) ◽  
pp. 35-42
Author(s):  
Norsinnira Zainul Azlan ◽  
Mubeenah Titilola Sanni ◽  
Ifrah Shahdad
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Robotic Arm ◽  
Robotic Arms ◽  
Kinematic Study ◽  
Human Arm ◽  
Pick And Place ◽  
The Disabled ◽  
Command Input ◽  
The Voice

This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller board. The voice recognition unit drove the command input for the targeted object. The forward and inverse kinematics of the proposed new robotic arm has been analysed and used to program the low cost anthropomorphic robotic arm prototype to reach the desired position in the pick and place operation. This paper’s contribution is in developing the low cost, light, and straightforward weight anthropomorphic arm that can be easily attached to other applications such as a wheelchair and the kinematic study of the specific robot. The low-cost robotic arm’s capability has been tested, and the experimental results show that it can perform basic pick place tasks for the disabled and humanoid applications.

Development and Analysis of Robotic Arms for Humanoid Melo

2018 ◽  
Author(s):  
He Shen ◽  
Salvador Rojas ◽  
Eduardo Molina ◽  
Francisco Moxo Galicia ◽  
Ni Li
Keyword(s):  
Low Cost ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Design Development ◽  
Brushless Dc Motors ◽  
Robotic Arms ◽  
Brushless Dc ◽  
Dc Motors ◽  
Comparable Performance ◽  
3D Printed

A robotic arm is one of the most sophisticated components of a humanoid, due to its complexity in multi-degree-of-freedom actuation and sensing, size and weight constraints, and requirement for object manipulation. This paper talks about the design, development, and verification of a low-cost, light-weight robotic manipulator that can achieve anthropomorphic movements. The 5 degree-of-freedom robotic arm has a fully extended length of 31 – inches and weight of 7 - pounds. The joints of the arm were fabricated using mainly 3D printed parts using Polylactic Acid and Nylon and linked with carbon fiber tubing. The arm is actuated by 2 servo motors at the distal joint and 3 brushless DC motors at the proximal joints. All joints of the arm perform at zero backlash through harmonic gear boxes, which are also assembled mainly from 3D printed parts. The robotic arm has demonstrated a comparable performance to similar robotic arms on the market with significantly reduced cost.

scholarly journals Digital Control Fuzzy Logic for a Water Tank Level Using Arduino

2021 ◽  
Vol 1 (1) ◽  
pp. 2-10
Author(s):  
Fayçal CHABNI ◽  
Rachid TALEB ◽  
Abderrahmen BENBOUALI ◽  
Mohammed Amin BOUTHIBA
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
High Performance ◽  
Low Cost ◽  
Industrial Applications ◽  
Water Tank ◽  
Level Control ◽  
Practical Procedure ◽  
Logic Control ◽  
And Control

Fuzzy logic control has been successfully utilized in various industrial applications; it is generally used in complex control systems, such as chemical process control. Today, most of fuzzy logic controls are still implemented on expensive high performance processors. This paper analyzes the effectiveness of a fuzzy logic control using a low cost controller applied to water level control system. The paper also gives a low cost hardware solution and practical procedure for system identification and control. We started, first by identifying the process to obtain its mathematical model. Then we used two methods to control our system (PI and fuzzy control). Simulation and experimental results are presented.

The Unscented Smooth Variable Structure Filter Application Into a Robotic Arm

2014 ◽  
Author(s):  
Mohammad Al-Shabi ◽  
Khaled S. Hatamleh
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Variable Structure ◽  
Estimation Algorithm ◽  
Industrial Applications ◽  
The Other ◽  
Robotic Arm ◽  
Feedback Signal ◽  
Robotic Arms ◽  
Smooth Variable Structure Filter

Robotic arms are becoming increasingly popular in industrial applications. However, improving the response and accuracy of robotic arms while reducing their cost has become challenging. The Kalman Filter (KF) has attracted a significant amount of research as it improves the control quality by filtering the feedback signal. On the other hand, KF solution becomes very challenging when the system under study is nonlinear. This work proposes a new online state estimation algorithm that combines the Smooth Variable Structure Filter (SVSF) with the Unscented Kalman Filter (UKF). The proposed method overcomes the limitations of SVSF and UKF in terms of stability and sensitivity to noise. A simulation study is conducted in this paper to demonstrate the results of the proposed method when applied to estimate the states of a PRRR industrial robotic arm.

Accessible Region and Synthesis of Robot Arms

1981 ◽  
Vol 103 (4) ◽  
pp. 803-811 ◽  
Author(s):  
Y. C. Tsai ◽  
A. H. Soni
Keyword(s):  
Closed Loop ◽  
Robotic Arm ◽  
Robot Arm ◽  
Robotic Arms ◽  
Cam Mechanism ◽  
Design Charts ◽  
Accessible Region ◽  
Special Cases ◽  
Cam Follower ◽  
Synthesis Procedure

The present paper deals with the study of determining accessible region for two and three-link robotic arms with pin-joints. Based on the derivation of the loci-curves traced by a two-link robotic arm, design charts are developed. Such design charts are utilized in determining the accessible regions of a three-link robotic arm. Following the analysis of the accessible regions of two and three-link robotic arms, the paper presents a synthesis procedure to synthesize two and three-link robotic arms. Given a set of end-positions of a two or three-link robot arm, the proposed synthesis procedure will yield the dimensions and the location of the robot arm which will enclose within its accessible region the design points. The same synthesis procedure is proposed to trace a specific planar point-path. The present paper further examines the potential application of the synthesis procedure of two and three-link robotic arms in synthesizing a closed-loop mechanism for point-path generation. The two-link robotic arm is examined for the case where the end positions lie on a fixed circle. This case leads to the synthesis of a four-bar mechanism for a special point-path curve. The synthesis procedure may be extended from the four-bar synthesis to a cam-follower (non-circular-cam) system where the follower is the two link robotic arm. A further extension of this procedure is demonstrated in synthesizing analytically the dual-cam mechanisms derived from the stephenson six-link mechanism. The present investigation examines all three possible cases of dual-cam mechanisms. For special cases, it is demonstrated that such dual-cam mechanism may be degenerated to synthesize a mechanism with one cam pair.

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