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 Human-Robot Collaborative Lifting Task Using Optimization

2021 ◽  
Author(s):  
Asif Arefeen ◽  
Yujiang Xiang
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Joint Torque ◽  
Robotic Arm ◽  
Inverse Dynamic ◽  
Floating Base ◽  
Grasping Forces ◽  
Design Variables ◽  
Human Arm ◽  
Lifting Task

Abstract In this paper, an optimization-based dynamic modeling method is used for human-robot lifting motion prediction. The three-dimensional (3D) human arm model has 13 degrees of freedom (DOFs) and the 3D robotic arm (Sawyer robotic arm) has 10 DOFs. The human arm and robotic arm are built in Denavit-Hartenberg (DH) representation. In addition, the 3D box is modeled as a floating-base rigid body with 6 global DOFs. The interactions between human arm and box, and robot and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. The inverse dynamic optimization is used to simulate the lifting motion where the summation of joint torque squares of human arm is minimized subjected to physical and task constraints. The design variables are control points of cubic B-splines of joint angle profiles of the human arm, robotic arm, and box, and the box grasping forces at each time point. A numerical example is simulated for huma-robot lifting with a 10 Kg box. The human and robotic arms’ joint angle, joint torque, and grasping force profiles are reported. These optimal outputs can be used as references to control the human-robot collaborative lifting task.

A Robotic Cell for Embedding Prefabricated Components in Extrusion-Based Additive Manufacturing

2020 ◽  
Author(s):  
Yeo Jung Yoon ◽  
Oswin G. Almeida ◽  
Aniruddha V. Shembekar ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Material Extrusion ◽  
Surface Polishing ◽  
Pick And Place ◽  
6 Degrees Of Freedom

Abstract By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-based AM. The robotic cell consists of two 6 degrees of freedom (DOF) robots, an extrusion system, and a gripper. One robot is used for printing a part, and the other robot takes a support role to pick and place the prefabricated component and embed it into the part being printed. After the component is embedded, AM process resumes, and the material is deposited onto the prefabricated components and previously printed layers. We illustrate the capabilities of the system by fabricating three objects.

A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 123-129 ◽  
Author(s):  
John Q. Gan ◽  
Eimei Oyama ◽  
Eric M. Rosales ◽  
Huosheng Hu
Keyword(s):  
Analytical Solution ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Effective Solution ◽  
Robotic Arms ◽  
Unstructured Environment ◽  
Inverse Kinematics Problem

For robotic manipulators that are redundant or with high degrees of freedom (dof), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kinematics of the P2Arm, which makes it possible to control the arm to any reachable position in an unstructured environment. The strategies developed in this paper could also be useful for solving the inverse kinematics problem of other types of robotic arms.

scholarly journals Efficiency Comparison between Robotic Manipulator Configurations for Trajectory/Path Tracing

2020 ◽  
Vol 10 (11) ◽  
pp. 56-60
Author(s):  
Joshua Laber ◽  
◽  
Ravindra Thamma
Keyword(s):  
Global Economy ◽  
High Speed ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Manufacturing Companies ◽  
Robotic Arms ◽  
Repetitive Tasks ◽  
Pick And Place ◽  
Efficiency Comparison ◽  
Speed And Accuracy

In automation, manufacturing companies require high speed and efficiency to remain competitive in the global economy. One of the most popular ways to increase precision, speed, and accuracy is to implement industrial robotic arms. As of 2020, 2.7 million industrial robots are in operation worldwide. A robotic arm is a machine used to automatic repetitive tasks by manipulating tools or parts in the space around it. Businesses use robotic arms for many operations including pick and place, machining, welding, precision soldering, and other tasks. But with all the different types and configurations of robotic arms, the question remains: What arm would best suit the task at hand? This paper examines and compares three commonly available types of robotic arm: 5-DoF, 6-DoF, and SCARA to compare which are most efficient in tracing paths.

Workspace Analysis of Reconfigurable Robotic Arms Using Parallel Platforms as Modules

2003 ◽  
Author(s):  
Mircea Badescu ◽  
Constantinos Mavroidis
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Performance Indices ◽  
Robotic Arms ◽  
Workspace Analysis ◽  
Lower Mobility ◽  
Parallel Platform

In this paper the workspace analysis of reconfigurable hyper-redundant robotic arms using as modules lower mobility parallel platforms is presented. The modules of the reconfigurable robotic arm are the 3-legged translational UPU and orientational UPS parallel platforms. Each arm is composed of a large number of these modules having a very large number of degrees of freedom. New performance indices to characterize the workspace of such arms are defined and used to analyze their different configurations. Results of this analysis are presented in table and graphic forms and the corresponding best designs are identified. All possible arm assembly configurations with two, three, and four parallel platform modules and one configurations with five parallel platform modules have been taken into consideration, analyzed and compared.

Modelling and Control of a Translational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Computer Simulation ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Process Analysis ◽  
Robotic Arm ◽  
Control Analysis ◽  
Pick And Place ◽  
Final Design ◽  
Car Wash ◽  
End Effectors

Abstract The objective of this paper is to design and model a translational robotic arm that is simple and cheap to manufacture while maintaining good functionality. Once the robotic arm is designed, the control analysis and computer simulation are conducted. When selecting the material used for the parts, the density and strength of are considered. This paper covers the design process, analysis and computer simulation of a robotic arm. The final design is a 4-DOF (degrees of freedom) pick and place robot. This robot has 1 prismatic joint and 3 revolute joints. The arm is designed to be used in multiple applications such as pick and place, car wash, chalkboard erasers, etc. Forward kinematics is used to calculate the end effectors position and orientation based on the positions of each joint. The Lagrange general method is used to come up with the equation of motion. Also, the control method selected for this robot was nonlinear decoupling PD control.

A Low-Cost, Automated Wafer Loading System With Submicron Alignment Accuracy for Nanomanufacturing and Nanometrology Applications

2016 ◽  
Vol 4 (4) ◽  
Author(s):  
Andrew Duenner ◽  
Tsung-Fu Yao ◽  
Bruno De Hoyos ◽  
Marianna Gonzales ◽  
Nathan Riojas ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Atomic Force ◽  
Total Capital ◽  
Alignment System ◽  
Loading System ◽  
Nanoscale Metrology ◽  
The Voice ◽  
Metrology System ◽  
Three Degrees Of Freedom

This paper introduces a low-cost, automated wafer alignment system capable of submicron wafer positioning repeatability. Accurate wafer alignment is critical in a number of nanomanufacturing and nanometrology applications where it is necessary to be able to overlay patterns between fabrication steps or measure the same spot on a wafer over and over again throughout the manufacturing process. The system presented in this paper was designed to support high-throughput nanoscale metrology where the goal is to be able to rapidly and consistently measure the same features on all the wafers in a wafer carrier without the need for slow and expensive vision-based alignment systems to find and measure the desired features. The wafer alignment system demonstrated in this paper consists of a three-pin passive wafer alignment stage, a voice coil actuated nesting force applicator, a three degrees-of-freedom (DOFs) wafer handling robot, and a wafer cassette. In this system, the wafer handling robot takes a wafer from the wafer cassette and loads it on to the wafer alignment stage. The voice coil actuator is then used to load the wafer against the three pins in the wafer alignment system and align the wafer to an atomic force microscope (AFM)-based metrology system. This simple system is able to achieve a throughput of 60 wafers/h with a positional alignment repeatability of 283 nm in the x-direction, 530 nm in the y-direction, and 398 nm in the z-direction for a total capital cost of less than $1800.

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 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.

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