MINOR PROJECT

5 BAR PARALLEL LINKAGE

ROBOT
PIYUSH MENGHANI(2K13/EL/056)
ROHAN SINGH(2K13/EL/073)

INTRODUCTION

A 5 bar linkage is a planar closed chain mechanism

Consists of 5 links(arms), 5 revolute joints, one linkage

being fixed .

Has 2 Degreed of Freedom

Used in high speed, high precision milling, drilling

Aim to write Time with it and periodically update

it

MECHANICS

The
main aim is to determine joint angles and for a particular

position of the end effector .

Forward Kinematics- determine , for given and.

Inverse Kinematics- determine and for given ,

MECHANICAL DESIGN

Consists of 3 Servos- two for arms ,one for lifting the marker between
numbers

Designed on SolidWorks first. Parts have been 3D printed and laser cut

C-shape holder designed for marker

Nylocs used to secure arms and allow movement

Shorter arms- 35mm, longer arms- 55.1 mm ,distance between two

servos-25mm

ELECTRONICS

Arduino with Atmega 328P

32KB FLASH,1kB EEPROM,23GPIO

3 HXT900 Micro Servo 1.6kg-cm torque

YET TO ACHIEVE

DS1307 RTC for providing time

A PCB for Atmega 328P,servo power lines,RTC

Requirement Analysis

ELECTRONICS DESIGN

Schematic Finalization

Design Process Followed

Converting to single
layer board file

Schematics and Board File developed using

EagleCAD
Etching of the PCB and placement of components

Manual routing of tracks

Finalization of BRD file

Transfer to Copper
Board using 'Toner Ink
Transfer'
PCB etching using FeCL3
solution

Placement of
components

Testing of developed
PCB

EagleCAD: SCH and BRD file

SCH file developed

BRD file developed

Algorithm Used

Based on this the following algorithm was developed.

All the initial macros, variables, servos, and the Real Time
Clock(RTC) are initialized.

Time is taken from RTC or a default time is taken in case

RTC is not able to communicate.

If the minute has changed then the code proceeds,

otherwise the loop goes on until this condition occurs.

The robot starts from the upper right corner of the

workspace.

The entire workspace is cleaned using the sweeper which

follows the path that is indicated by red in Fig.11.

It extracts the number at tenths place from the hour and

plots it. Similarly for the number at units place.

It prints a semi-colon and goes on to extract the minute.

Plots the minute in the same way it plots the hour and
goes back to its initial position.

This loop keeps on repeating.

Calculation of angles

Video

Working Prototype

FURTHER MILESTONES
HARDWARE

Use of stepper motors with rotary encoders

More powerful Single Board Computers(SBC) such as Raspberry Pi,

BeagleBone board to increase processing capacity

CONTROL BASED

Use of inverse kinematics

Closed loop control

FUNCTIONALITY

Developing a GUI to enable the robot to perform various

functions

In addition to writing time, the robot can be used to write

letters and draw sketches

INDUSTRIAL APPLICATIONS

High Speed ,high accuracy milling and drilling machines

SMD pick and place machines

Commercial pick and place robots

For applications which require precision in a limited workspace