Design and Operation of Synchronized Robotic Arm
Design and Operation of Synchronized Robotic Arm
Student, Electrical and Electronics Department, Maharaja Agrasen Institute of Technology, Delhi, India, 2, 3 Student, Electrical and Electronics Department, HMR Institute of Technology, Delhi, India, katal.goldy@gmail.com, saahilgpt005@gmail.com, shitijkakkar91@gmail.com
Abstract
The paper manuscript deals with the designing and implementation of Synchronized Robotic Arm, which is used to perform all the basic activities like picking up objects and placing them. In this paper, a robotic arm is designed, synchronized with the working arm and would perform the task as the working arm does. The work done by the robotic arm would be highly precise, as a digital servo motor is used. A servo motor of 230 oz-inch is used in the project, but motors with more capacity can also be used as according to the desired work. This robotic arm can also be used for precision works. For instance some work has to be done very precisely but the conditions do not suit human beings. In such conditions, this robotic arm can be used remotely and the task can be accomplished. The programming is done on ATMEGA-8 Microcontroller using Arduino programming. The potentiometers are also used to detect the angle of rotation and the signals are then sent to the microcontroller. In todays world, this Robotic arm has turned out very benevolent. Besides Robotics and Automation, these kinds of arms have applications in other fields also.
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Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 297
Figure 1 shows the image of a servo motor. It consists of a motor which is coupled to a sensor, used for position feedback, through a reduction gearbox. It also accompanies a relatively sophisticated controller, usually a dedicated module designed specifically for use with servomotors In short, the micro controller ontroller interfaces all these components specified below. A short hort list of components include 1. Servo motors 2. Potentiometers 3. ATMEGA 8 4. Figure 1 shows the image of a servo motor. It consists of a motor which is coupled to a sensor, used for position feedback, through a reduction gearbox. It also accompanies a relatively sophisticated controller, usually a dedicated module designed specifically for use with servomotors In short, the micro controller interfaces all these components specified below. A short hort list of components include 1. Servo motors 2. Potentiometers 3. ATMEGA 8 4. Arduino Deumilanove
Fig 2: A Servo Motor 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. The specifications for Servomotor used are as follows: Weight- 55g Dimension- 40.7*19.7*42.9mm Stall torque- 10kg/cm Operating speed- 0.20sec/60degree(4.8v) Operating voltage 4.8-7.2V. 4.8 Temperature range 0-55 0 degrees.
2.3 Potentiometers
Fig 1: Circuit Diagram of a Robotic Arm
A Potentiometer (pot pot for shot) is a variable resistor. The two output terminals act as a fixed resistor. A movable contact called a wiper (or a slider) moves across the resistor, producing a variable resistance between the centre terminals and the two sides[12].A .A potentiometer is basically a voltage divider which is used for the measurement of electric potential. Potentiometers are commonly used to control electrical devices such as volume controls on audio equipment. Potentiometers which are operated by a mechanism can also be used as position transducer. transducer
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Volume: 02 Issue: 08 | Aug-2013, 2013, Available @ http://www.ijret.org 298
Fig 6: An Arduino Deumilanove Arduino board consists of the following parts : USB connector Power connector Automatic power switch Digital pins Analog pins Power pins Reset switch
Fig 3: A Potentiometer A potentiometer is a manually adjustable electrical resistor that uses three terminals. In many electrical devices, potentiometers are establishes the levels of output. For example, in case of a loudspeaker, a potentiometer is used to adjust the volume or taken the case of a television set, computer monitor or light dimmer; it can be used to control the brightness of the screen or light bulb.
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Volume: 02 Issue: 08 | Aug-2013, 2013, Available @ http://www.ijret.org 299
6-channel ADC -Four Channels 10-bit Accuracy and Two Channels 8-bit Accuracy Programmable Serial USART External and Internal Interrupt Sources 23 Programmable I/O Lines 4.5 to 5.5V operation
The low-power Atmel 8-bit AVR RISC-based microcontroller consists of 8KB of programmable flash memory, 1KB of SRAM, 512K EEPROM, and a 6 or 8 channel 10-bit A/D converter. The device supports throughput of 16 MIPS at 16 MHz and operates between 2.7-5.5volts.
Fig 8: ATMEGA 8 The key features of ATMEGA8 are : 8K BYTES of In-System Programmable Flash 512 Bytes EEPROM, Endurance: 100,000 Write/Erase Cycles Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode Analog Comparator One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode Real Time Counter with Separate Oscillator
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Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 300
Other end effectors include blowtorches, drills and spray painters. this improves their performance. 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.
SAGE International Journal of Robotic Research 21, 9, 773789, 2002. [5] M. Gemeinder and M. Gerke, GA-based Path Planning for Mobile Robot Systems employing an active Search Algorithm; Journal of Applied Soft Computing 3, 2, 149-158, 2003. [2]. Six-servo Robot Arm from www.arexx.com.cn on 13-11-2011 pg: 1-18 [6]. Jegede Olawale, Awodele Oludele, Ajayi Ayodele, Development of a Microcontroller Based Robotic Arm, in Proceedings of the 2007 Computer Science and IT Education Conference pg: 549-557. [7]. Six-servo Robot Arm from www.arexx.com.cn on 1311-2011. [8]. Robotic Arm - www. NASA explores. com [9]. Robot software from Wikipedia, the free encyclopedia on 04-3-2012 [10]. ATMEL short notes, www.atmel.com [11]. Arduino MCU, - www.arduino.com [12]. Servomotors & system design components, www.bhashaelectronics. Com
5. FUTURE WORK
The future scope of Robotic Arm is commendable. It will involve patients who are paralyzed from down the neck can manipulate robotic arms with their thoughts. It will be able to direct a mechanical arm to pick up a bottle of coffee and bring it to her lips. It was the first time she'd been able to drink without assistance in nearly 15 years. There will be a thriving need for the Robotic arm in military, industrial and many more.
REFERENCES
[1] C. F. Olson, Lab. JP, Technol. CIo, Pasadena, Probabilistic self localization for mobile robots; IEEE Transactions on Robotics and Automation 16,1, 55-66, 2000. [2] R.B. Gillespie, J. E. Colgate, M. A. Peshkin, A general framework for robot control; IEEE Transactions on Robotics and Automation, 17,4, 391-401, 2001. [3] Devendra P. Garg and Manish Kumar, Optimization Techniques applied to multiple manipulators for path planning and torque minimization; Engineering Applications of Artificial Intelligence 15, 3-4, 241-252, 2002. [4] J. C. Trinkle and R. James Milgram, Complete Path Planning for Closed Kinematics Chains with Spherical Joints;
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Volume: 02 Issue: 08 | Aug-2013, Available @ http://www.ijret.org 301