5 DOF ROBOTIC ARM FOR INDUSTRY

Professor:Vikram KapilaClass:ME-GY Advanced

MechatronicsStudent :Ning Hu , Zexin Li

3/6/2017

Insert Date Presentation Title Goes Here

Contents

1. Project overview2. Introduction 3. Hardware 4. Algorithm5. Demonstration 6. Conclusion and future

Insert Date Presentation Title Goes Here

Project overview

Industry robotsshield people from working in dangerous environments and from handling hazardous materials.

Insert Date Presentation Title Goes Here

Project overview

Therefore , we need robots to help us.

Specific in chemical industry and Pharmaceutical Industry• hazardous environments• direct exposure to materials that are radioactive or highly explosive

Insert Date Presentation Title Goes Here

Introduction

Kinematic model of human arm

Insert Date Presentation Title Goes Here

Introduction

Robotic arm

Insert Date Presentation Title Goes Here

Hardware

DS3218 Servo

Datasheet:1. Size:40*20*40.5(servo)2. Weight:60g3. Wire length:320mm4. Speed: 0.14sec/60 degree at(6v) 0.16sec/60 degree at(7.2v)5. Torque: 18kg.cm.at(6v) 20kg.cm.at(7.2v)6. Voltage: 4.8v-7.2v7. Dead Zoon:4 Microseconds

Insert Date Presentation Title Goes Here

Hardware

MG996R Servo

Datasheet:1. Weight : 55g2. servo wire length : 32cm3. Stall torque : 9.4kg/cm (4.8v); 11kg/cm (6.0v)4. Operating speed : 0.19sec/60degree (4.8v); 0.15sec/60degree (6.0v)5. Operating voltage : 4.8~ 6.6v6. Temperature range : 0- 55deg8. Dead band width : 1us

Insert Date Presentation Title Goes Here

Hardware

U bracket Servo bracket

Insert Date Presentation Title Goes Here

Hardware

Arduino I2C LCD1602 Water sensor

Insert Date Presentation Title Goes Here

Hardware

Platform

Insert Date Presentation Title Goes Here

Hardware

Servo signal

Red-positive black-GND (6servo motors)

Insert Date Presentation Title Goes Here

Algorithm

Y

X

（-7.3，31.5）

（0，0）

Insert Date Presentation Title Goes Here

Algorithm

So

Px=-7.3cm; Py=31.5cm; Pz=5cm(Pz is half height of bottle)

Insert Date Presentation Title Goes Here

Demonstration

Insert Date Presentation Title Goes Here

Conclusion 1. Robotic arm enables to catch bottle and

pour water automatically.

2. Designed model can measure amount of

water .

3. Collaboration between arm and sensor is

done well.

Insert Date Presentation Title Goes Here

Future

1. Robotic arm will catch bottle automatically

by vision in the arm’s workspace.

2. Robotic arm can catch one more bottles.

3. Base design and gripper will be improved .

Insert Date Presentation Title Goes Here