Design of a low-cost five-finger anthropomorphic robotic arm with nine degrees of freedom

2012 ◽  
Vol 28 (4) ◽  
pp. 551-558 ◽  
Author(s):  
Ankit Sharma ◽  
Mathew Mithra Noel
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Robotic Arm

Design of Robotic Arm Using Delay Based Operation of DC Geared Motors With a Microcontroller

2008 ◽  
Author(s):  
Dilshad A. Sulaiman ◽  
Akash B. Pandey
Keyword(s):  
Degrees Of Freedom ◽  
Material Handling ◽  
Pulse Width Modulation ◽  
Mechanical Design ◽  
Low Cost ◽  
Open Loop ◽  
Infrared Light ◽  
Robotic Arm ◽  
Design And Technology ◽  
Stepper Motors

This paper provides the design of a simple robotic arm for pick and place operations as well as other material handling operations. The movements of the arm are anthropometric i.e. resembling the human arm with respect to degrees of freedom so as to provide a human touch in industrial and space operations. This system operates using controlled motion of DC geared motors along with a microcontroller based system (8051 or PIC based). Use of PWM (Pulse Width Modulation) can be used to control the RPM of DC geared motors. This system has the advantage of being simple and low cost with a varied flexibility of operation. A collective array of sensors viz. voice sensor, infrared light sensors, proximity sensors etc. can be incorporated to form a feedback induced closed loop system. Whereas for tasks of picking and placing at a fixed location from another location the system can be operational at open-loop. The material for the robotic arm can be polypropylene or acrylic or aluminium to reduce weight without compromising on the strength and lifting capacity of the robotic arm, such that the torque of the DC geared motors (actuators) at each joint are sufficient to lift the arm along with the weight at the end effector. Clutch and gear shifting mechanism can be used to increase the degrees of freedom per actuator. The driving circuit mainly consists of the microcontroller and H-bridge drivers using an 8-bit port to control 4 DC geared motors per port simultaneously or one at a time using delay commands. DC geared motors are quite cheaper than stepper motors and RC Servos thus reducing the total cost of the system drastically. Plus being light weight, DC geared motors reduce the total weight of the system. This paper will also throw light on the programming aspects for the microcontroller (8051 or PIC based) along with the compatible flash programmers and HEX code generators. This project will further explain on the approach followed in the mechanical design of the robotic arm (motion, work volume etc.) as well as the possible future applications of the robotic arm. Also the design of the robotic arm on CAD tools like Solidworks will be discussed in brief along with the modeling and simulation of the various links of the arm as well as the whole assembly of the system. With increasing popularity of Automation, robotic arms are the present and future of all industrial operations. Finally the paper concludes on the further improvements in design and technology.

scholarly journals Design of Autonomous Mobile Robot for Cleaning in the Environment with Obstacles

2021 ◽  
Vol 11 (17) ◽  
pp. 8076
Author(s):  
Arpit Joon ◽  
Wojciech Kowalczyk
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Robotic Arm ◽  
Vacuum System ◽  
Practical Implementation ◽  
Low Level ◽  
Cleaning Robot ◽  
Web Camera ◽  
High Level

This paper describes the design and development of a cleaning robot, using adaptive manufacturing technology and its use with a control algorithm for which there is a stability proof. The authors’ goal was to fill the gap between theory and practical implementation based on available low-cost components. Adaptive manufacturing was chosen to cut down the cost of manufacturing the robot. Practical verification of the effectiveness of the control algorithm was achieved with the experiments. The robot comprises mainly three assemblies, a four-wheel-drive platform, a four-degrees-of-freedom robotic arm, and a vacuum system. The inlet pipe of the vacuum system was attached to the end effector of the robotic arm, which makes the robot more flexible to clean uneven areas, such as skirting on floors. The robot was equipped with a LIDAR sensor and web camera, giving the opportunity to develop more complex methods. A low-level proportional–integral–derivative (PID) speed controller was implemented, and a high-level controller that uses artificial potential functions to generate repulsive components, which avoids collision with obstacles. Robot operating system (ROS) was installed in the robot’s on-board system. With the help of the ROS node, the high-level controller generates control signals for the low-level controller.

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.

Design of Robotic Arm Using Delay Based Operation of DC Geared Motors With a Microcontroller

2008 ◽  
Author(s):  
Dilshad A. Sulaiman ◽  
Akash B. Pandey
Keyword(s):  
Degrees Of Freedom ◽  
Material Handling ◽  
Pulse Width Modulation ◽  
Mechanical Design ◽  
Low Cost ◽  
Open Loop ◽  
Infrared Light ◽  
Robotic Arm ◽  
Design And Technology ◽  
Stepper Motors

This paper provides the design of a simple robotic arm for pick and place operations as well as other material handling operations. The movements of the arm are anthropometric i.e. resembling the human arm with respect to degrees of freedom so as to provide a human touch in industrial and space operations. This system operates using controlled motion of DC geared motors along with a microcontroller based system (8051 or PIC based). Use of PWM (Pulse Width Modulation) can be used to control the RPM of DC geared motors. This system has the advantage of being simple and low cost with a varied flexibility of operation. A collective array of sensors viz. voice sensor, infrared light sensors, proximity sensors etc. can be incorporated to form a feedback induced closed loop system. Whereas for tasks of picking and placing at a fixed location from another location the system can be operational at open-loop. The material for the robotic arm can be polypropylene or acrylic or aluminium to reduce weight without compromising on the strength and lifting capacity of the robotic arm, such that the torque of the DC geared motors (actuators) at each joint are sufficient to lift the arm along with the weight at the end effector. Clutch and gear shifting mechanism can be used to increase the degrees of freedom per actuator. The driving circuit mainly consists of the microcontroller and H-bridge drivers using an 8-bit port to control 4 DC geared motors per port simultaneously or one at a time using delay commands. DC geared motors are quite cheaper than stepper motors and RC Servos thus reducing the total cost of the system drastically. Plus being light weight, DC geared motors reduce the total weight of the system. This paper will also throw light on the programming aspects for the microcontroller (8051 or PIC based) along with the compatible flash programmers and HEX code generators. This project will further explain on the approach followed in the mechanical design of the robotic arm (motion, work volume etc.) as well as the possible future applications of the robotic arm. Also the design of the robotic arm on CAD tools like Solidworks will be discussed in brief along with the modeling and simulation of the various links of the arm as well as the whole assembly of the system. With increasing popularity of Automation, robotic arms are the present and future of all industrial operations. Finally the paper concludes on the further improvements in design and technology.

scholarly journals Towards Brain-Computer Interface Control of a 6-Degree-of-Freedom Robotic Arm Using Dry EEG Electrodes

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Alexander Astaras ◽  
Nikolaos Moustakas ◽  
Alkinoos Athanasiou ◽  
Aristides Gogoussis
Keyword(s):  
Degrees Of Freedom ◽  
Cost Minimization ◽  
Brain Computer Interface ◽  
Low Cost ◽  
Computer Interface ◽  
Robotic Arm ◽  
Combined System ◽  
Position Sensing ◽  
Dry Electrode ◽  
Smooth Movement

Introduction. Development of a robotic arm that can be operated using an exoskeletal position sensing harness as well as a dry electrode brain-computer interface headset. Design priorities comprise an intuitive and immersive user interface, fast and smooth movement, portability, and cost minimization.Materials and Methods. A robotic arm prototype capable of moving along 6 degrees of freedom has been developed, along with an exoskeletal position sensing harness which was used to control it. Commercially available dry electrode BCI headsets were evaluated. A particular headset model has been selected and is currently being integrated into the hybrid system.Results and Discussion. The combined arm-harness system has been successfully tested and met its design targets for speed, smooth movement, and immersive control. Initial tests verify that an operator using the system can perform pick and place tasks following a rather short learning curve. Further evaluation experiments are planned for the integrated BCI-harness hybrid setup.Conclusions. It is possible to design a portable robotic arm interface comparable in size, dexterity, speed, and fluidity to the human arm at relatively low cost. The combined system achieved its design goals for intuitive and immersive robotic control and is currently being further developed into a hybrid BCI system for comparative experiments.

The Development of a Myoelectric Training Tool for Above-Elbow Amputees

2012 ◽  
Vol 6 (1) ◽  
pp. 5-15 ◽  
Author(s):  
Michael R Dawson ◽  
Farbod Fahimi ◽  
Jason P Carey
Keyword(s):  
Degrees Of Freedom ◽  
Learning Task ◽  
Robotic Arm ◽  
Signal Acquisition ◽  
Myoelectric Prosthesis ◽  
Training Tool ◽  
Myoelectric Prostheses ◽  
Training Systems ◽  
Targeted Muscle Reinnervation

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

scholarly journals Reconstruction of Relative Phase of Self-Transmitting Devices by Using Multiprobe Solutions and Non-Convex Optimization

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2459
Author(s):  
Rubén Tena Sánchez ◽  
Fernando Rodríguez Varela ◽  
Lars J. Foged ◽  
Manuel Sierra Castañer
Keyword(s):  
Iterative Algorithm ◽  
Degrees Of Freedom ◽  
Relative Phase ◽  
Low Cost ◽  
Initial Guess ◽  
Noise Model ◽  
Medium Size ◽  
Phase Reconstruction ◽  
Linear Combinations ◽  
Iterative Optimization Algorithm

Phase reconstruction is in general a non-trivial problem when it comes to devices where the reference is not accessible. A non-convex iterative optimization algorithm is proposed in this paper in order to reconstruct the phase in reference-less spherical multiprobe measurement systems based on a rotating arch of probes. The algorithm is based on the reconstruction of the phases of self-transmitting devices in multiprobe systems by taking advantage of the on-axis top probe of the arch. One of the limitations of the top probe solution is that when rotating the measurement system arch, the relative phase between probes is lost. This paper proposes a solution to this problem by developing an optimization iterative algorithm that uses partial knowledge of relative phase between probes. The iterative algorithm is based on linear combinations of signals when the relative phase is known. Phase substitution and modal filtering are implemented in order to avoid local minima and make the algorithm converge. Several noise-free examples are presented and the results of the iterative algorithm analyzed. The number of linear combinations used is far below the square of the degrees of freedom of the non-linear problem, which is compensated by a proper initial guess. With respect to noisy measurements, the top probe method will introduce uncertainties for different azimuth and elevation positions of the arch. This is modelled by considering the real noise model of a low-cost receiver and the results demonstrate the good accuracy of the method. Numerical results on antenna measurements are also presented. Due to the numerical complexity of the algorithm, it is limited to electrically small- or medium-size problems.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

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