ROBOTIC ARM DESIGN

KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR WITH 4 DEGREES OF FREEDOM

Akshay Thakur | Oreoluwa Adediwura | Oluwaseun Fetuata

Abstract previously recorded settings. Past recordings can

also be saved and accessed.
For decades, robotics has been recognized in the
field of industrial automation. Its foundations are The closed solution, which offers joint angles for
found in a variety of technical and scientific fields, the location of the elbow while positioning the
including computer, cognitive, and social sciences robot's hand, is used to solve the robot's kinematics.
as well as mechanical, electrical, and electronics The process would be managed by a PLC with a
engineering. Through relentless improvement and start and stop push button.
innovation, its applications have spanned through Ideal practical applications for this project include
various industries including medicine, automobile, but are not limited to;
manufacturing, and many more.  Garbage collection
 Mail Box /office /warehouse
This project's goal is to replicate and improve the  Lift objects and transport them.
interactivity for managing a robotic arm in a  Color detection and matching
simulated programming environment using Python  Office application.
by running a Python program to allow users to
interact with the real world and make the entire Objective 
process friendlier. The control system would be 1. Design, construct, and develop python
used to control a robot arm to pick an object from a controlled robotic arm capable of handling and
position and place it in a new position. lifting that can be controlled by a python
program
The identical virtual control configuration will be
2. Apply the program & code to the similarly
running in a virtual world along with an entire
constructed robotic arm
robotic arm hardware gear. The user interacts with a
3. Understand and apply practical DH
virtual setup that we will develop using Python in
representation of the robotic arm.
order to engage with a real-world arrangement. This
4. Solidworks & CAD design & application.
is built and developed to manage the arm's motion
5. Design For Manufacturing (3D Printing).
in actual life.
Introduction Methodology
Project Scope
Project RAD is anticipated to record and automate 1. Project Design - Free body diagram, 3D
any number of positions in a python program while Computer-aided design, DH Representation
simultaneously mastering the many abilities 2. GUI & Arm Code – GUI development with
outlined in this proposal. Simple components and python, servo codes development.
tools, including micro servos, resistors, LEDs, jump 3. Electrical and mechanical connections –
wires, and 3D printing, were used to create this Breadboard, microcontrollers, computers
robot arm. 4. Software & Hardware Interface –
Microprocessor custom settings, program
Through a computer's graphical user interface that development.
would be developed using python, you may The robot system consists of various building
command the arm by sending commands to the blocks;
Arduino, which manages the arm. Each servo is 1. Arduino UNO (Micro Controller)
controlled by sliders, and there are buttons 2. Normal Sized Servo
programmed for recording positions and replaying 3. SG90 Micro-servo motor
4. Breadboard (generic)
 5. Power Supply processor are connected through a USB cable to
6. 3D Printed Arm transmit commands for motor movement.
The Schematic below represents the robotic system
architecture.
DH Representation of Project Model
Wiring Schematics

This is a DH representation of a manipulator of 4

degrees of freedom. The revolute joint rotates along Python GUI Controller
the Z0 axis at theta 1 deg. Committed to this is
another revolute joint that rotates about the z1 axis
at an angle of theta 2. Connected to the previous
joint in horizontal orientation is another revolute
joint rotating around the axis z2 with an angle of
rotation of theta 3. The Last revolute joint
connected to the previous joint has an axis of
rotation along z3 with an angle of rotation of theta
4. Connected to this revolute joint is an end effector
whose axis of rotation is along x3 with a
translational motion. Its axis of movement is z3.

System Architecture. We program the microprocessor with the Arduino

code for the robot arm. After the upload is
In this project, we make careful considerations complete, we incorporate Python code to build a
regarding the colour mapping from the motor to the straightforward GUI for operating the robotic arm
microprocessor while using o.2mm breadboard and recording motion.
wires. The servo has three wire connections at first:
red, black, and yellow. The red and black wires go Operational Procedure
to the breadboard. Red being the positive and black Define the port – The connection entry point is
being the negative. The breadboard is where the red defined and registered for this input
and black wires are connected. A positive colour is Send/record position - The robot movement is
red, and a negative color is black. The yellow cable initiated through the GUI containing controls for
is connected to the microprocessor. Wires are angular positions ranging between 0-180 degrees.
attached to the microprocessor by following the Then Sent on click on the record position button in
numbers in the created code to establish the GUI.
connections. There are 50 pins in the Arduino mega Play position - The given input for the positions are
2560 microprocessor. The yellow pins from the sent to the microcontroller which processes the
microprocessor are connected to the precise number information and relays instructions to the motors.
when following the code. The breadboard receives a The motors rotate according to the input which
5-volt power supply. The computer and micro- changes the position of the robot’s joints.
Save Position - The GUI program is equipped with
the ability to store progressive movements and
replay them at a later time.
Clear Position - This acts as a format command to
reset previously registered positions.

Results & Discussion Refferences

Mechanics - A 3D drawing of the model was made
successfully and sent for printing. Below is the
result of the iterated design.

Appendices
CAD Model Prototype
A functioning mechanism is created by connecting
this to the other elements of our design architecture.
According to the angle input through the GUI, the
system/robot was able to articulate each joint.

Conclusions