ROBOTIC ARM

TEAM MEMBERS:
SHUBHAM KAUSHIK
PRASHANT SHARMA
SHAIKH WASIM AKTHAR

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Description

6. A robotic arm is a robotic manipulator, usually

programmable, with similar functions to a human

8. arm .Servo motor is used for joint rotation. It has
about same number of degree of freedom as in
human arm. Humans pick things up without
thinking about the steps involved. In order for a
robot or a robotic arm to pick up or move
something, someone has to tell it to perform
several actions in a particular order from moving
the arm, to rotating the wrist to opening and
9. closing the hand or fingers. .So, we can

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10. control each joint through computer interface

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13. Overview
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15.Degree of Freedom:4

Payload Capacity(Fully Extended) : 150gm

16.Maximum Reach(Fully Extended) : 35cm

17.Rated speed(Adjustable) : 0-0.3 m/s

Joint speed(Adjustable) : 0-60 rpm

18.Hardware interface : USB

Control Software : computer interface(GUI)

19.Shoulder Base Spin : 180

20.Shoulder Pitch : 180

Elbow Pitch : 180

21.Wrist Pitch : 180

22.Gripper Opening(Max) : 8cm

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26. Salient features / innovations
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1. The arm has five servos which are

controlled through the use of only one

microcontroller atmega 16.

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229. The arm could grab things approximately in a hemisphere of
50cm and is
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31. robust made completely with an aluminum sheet of 2.5mm.
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333. The arm is very user friendly because of the computer
interface developed by
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35. us, even layman could operate it.
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37. The could lift objects up to weight of 200 gm.

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5. Enabling the base rotation without the help of

any gears or ball bearing, also using only low
torque servo motors and three castor wheels
for rotating the whole body.

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6. Developing the graphical user interface using
only the opencv highgui functions, Instead of
40.previously used matlab.
7. Keeping the design of robotic arm gripper
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gripping mechanism without using gears
and with one servo motors.

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54. What are Servo Motors?

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56. Servo refers to an error sensing feedback control which is

used to correct the performance of a system. Servo or RC

Servo Motors are DC motors equipped with a servo
mechanism for precise control of angular position. The RC
servo motors usually have a rotation limit from 90 to 180.
But servos do not rotate continually. Their rotation is
restricted in between the fixed angles.

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59. Where are Servos used?

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61. The Servos are used for precision positioning. They are
used in robotic arms and legs, sensor scanners and in RC
toys like RC helicopter, airplanes and cars.

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88. Servo Motor wiring and plugs

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90. The Servo Motors come with three wires or leads. Two of these wires are to provide

ground and positive supply to the servo DC motor. The third wire is for the control
signal. These wires of a servo motor are color coded. The red wire is the DC supply
lead and must be connected to a DC voltage supply in the range of 4.8 V to 6V. The
black wire is to provide ground. The color for the third wire (to provide control signal)
varies for different manufacturers. It can be yellow (in case of Hitec), white (in case of
Futaba), brown etc.

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92. Futaba provides a J-type plug with an extra flange for proper connection of the servo.

Hitec has an S-type connector. A Futaba connector can be used with a Hitec servo by
clipping of the extra flange. Also a Hitec connector can be used with a Futaba servo
just by filing off the extra width so that it fits in well.

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Hitec splines have 24 teeth while Futaba splines are of 25 teeth. Therefore
splines made for one servo type cannot be used with another. Spline is the place
where
95.a servo arm is connected. It is analogous to the shaft of a common DC motor.
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Unlike DC motors, reversing the ground and positive supply connections does not
change the direction (of rotation) of a servo. This may, in fact, damage the servo motor.
That is why it is important to properly account for the order of wires in a servo motor.

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Servo Control

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A servo motor mainly consists of a DC motor, gear system, a position sensor which is
mostly a potentiometer, and control electronics. The DC motor is connected with a gear
mechanism which provides feedback to a position sensor which is mostly a potentiometer.
From the gear box, the output of the motor is delivered via servo spline to the servo arm.
The potentiometer changes position corresponding to the current position of the motor. So
the change in resistance produces an equivalent change in voltage from the potentiometer. A

pulse width

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modulated signal is fed through the control wire. The pulse width is converted
into an equivalent voltage that is compared with that of signal from the potentiometer
in an error amplifier.

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The servo motor can be moved to a desired angular position by sending

PWM (pulse width modulated) signals on the control wire. The servo understands the
language of pulse position modulation. A pulse of width varying from 1 millisecond to
2 milliseconds in a repeated time frame is sent to the servo for around 50 times in a
second. The width of the pulse determines the angular position.

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For example, a pulse of 1 millisecond moves the servo towards 0, while a 2

milliseconds wide pulse would take it to 180. The pulse width for in between angular
positions can be interpolated accordingly. Thus a pulse of width 1.5 milliseconds will
shift the servo to 90.

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It must be noted that these values are only the approximations. The actual
behavior of the servos differs based on their manufacturer.

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A sequence of such pulses (50 in one second) is required to be passed to the

servo to sustain a particular angular position. When the servo receives a pulse, it can
retain the corresponding angular position for next 20 milliseconds. So a pulse in
every 20 millisecond time frame must be fed to the servo.

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The required pulse train for controlling the servo motor can be generated by a
timer IC such as 555 or a microcontroller can be programmed to generate the required
waveform. Refer Servo Motor interfacing with 8051 microcontroller and Servo control
using AVR ATmega16.

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Basic Servomotor Bracket Assembly

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These servomotor brackets may be

used to create any number of
robotic project like robotic

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146. arm,hexapod,snake robot.

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Assembled

Servomotor

Bracket

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Fitting servo motor in bracket

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220. Application of Robotic Arm
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The robotic arm can be designed to perform any desired task such as welding, gripping,
spinning etc., depending on the application. For example robot arms in automotive
assembly line perform a variety of tasks such as wielding and parts rotation and
placement during assembly.

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In space the space shuttle Remote Manipulator System have multi degree of
freedom robotic arms that have been used to perform a variety of tasks such as
inspections of the Space Shuttle using a specially deployed boom with cameras
and sensors attached at the end effector.

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The robot arms can be autonomous or controlled manually and can be used to perform
a variety of tasks with great accuracy.The robotic arm can be fixed or mobile (i.e.
wheeled) and can be designed for industrial or home applications. Robotic hands often
have built-in pressure sensors that tell the computer how hard the robot is gripping a
particular object. This keeps the robot from dropping or breaking whatever it's carrying.
Other end effectors include blowtorches, drills and spray painters.this improves their
performance.

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In medical science: "Neuroarm" uses miniaturized tools such as laser scalpels

with pinpoint accuracy and it can also perform soft tissue manipulation,
needle insertion, suturing, and cauterization.

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Future work to be done

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1. Increasing the degrees of freedom of the robotic arm by
implanting more servos motors.
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2. Implementing the inverse kinematics
technique in robotic arm. 3. Equipping the robotic arm
with tactile sensors ,proximity sensors.
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4. Developing the graphical user interface for making the arm more user
friendly and developing a web interface so that arm could be
controlled in remote place by your Web browser.

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Acknowledgements

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1. For pwm generation through atmega 16

microcontroller
http://enricorossi.org/blog/2010/avr_atmega16_f
ast_pwm/
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2. For developing the graphical user interface using the opencv
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The best way to learn opencv is to read the oreilly s book

Learning OpenCV:computer vision with opencv library.
http://opencv.willowgarage.com/documentation/highgui._highlevel_gui_an
d_media_io.htm http://www.aishack.in/

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3. For articles related to robotics and the servo motors
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http://www.robosapiens-india.com/cookbook/robotics%20virtual
%20book/index.html http://www.engineersgarage.com/articles/servomotor

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http://www.engineersgarage.com/embedded/avr-microcontrollerprojects/atmega16- servo-motor-circuit

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