Automated 5 DOF robotic arm mechanism

Project Title

Automated 5 DOF robotic arm mechanism

Project Area of Specialization RoboticsProject Summary

Robotic Arm is widely used in industries. Design and Fabrication of fully automated robotic arm that can automate various industrial task. Our system consists of an assembly of mounts and parts designed to hold motors in place in order to achieve the desired movement. This project aims to model the forward and inverse kinematics of 5 DoF robotic arm. A general representation of 5 DoF robotic arm in forward and inverse kinematic is to be presented. 5 DoF robotic arm is vertically articulated robot with 5 revolute joints.

The robotic arm implied in indutries has one end effector and multiple end effectors can not be used simultaneously. Our 5 Dof articulated robotic arm will have multiple end effectors that can be used simultaneously. The Aim is to Design and Manufacture a 5 DOF Robotic arm equipped with multiple End Effectors (drill and gripper) which can be used simultaneously; so we can use one robotic arm to perform various with least human assitance. CAD modelling is done using Creo Parametric  5.0 .

The material chosen for this arm is Aluminium based on several factors such as strenght to weight ratio, ease of operation , shock and corrosion resistance etc. High torque DC servo motors will be used to maximize the payload capability of the robotic arm. Arduino Mega integerated with bluetooth interface will be used to control the robotic arm mechanism. Raspberry Pi 4 will be used to develop a user friendly interface to operate the robotic arm for various function. The robotic arm mechanism will be equipped with AI capabalities to detect various abjects using AI sensors and cameras. This project will also allow  students to gain theoretical and practical experience in field of robotics and control systems.

Project Objectives

• Design and fabrication of 5 DoF Robotic Arm
• Capable to move in 5 axis with 5 Degree of Freedom
• Analytical design calculations
• Multiple End Effectors (drill and gripper) functionality used simultaneously
• Design and and development of an computer interface to control the robotic arm
• Ability to pick and place an object precisely
• Ability to do basic drilling operation
• Representation of forward and reverse kinematics solution of 5 DoF robotic arm

Project Implementation Method

• Analytical design calcultion
• CAD modelling
• Feasibility check
• Selection of Material
• Prototype Fabrication
• Development of software Interface 
• Testing of prototype

Benefits of the Project

• Industrial applications for material handling, precise movement, painting, welding etc
• Military applications bomb defusing/ discarding etc
• Ease of operation, accuracy , time saving
• Multiple functionability, cost effectiveness
• Repeatability

Technical Details of Final Deliverable

5 axis motion/movement

360 ° base rotation

Ability to pick up object and move to required position

Ability to do basic drill operation

Ability to perform multiple task simultaneously with least human assistance

following are features of the robotic arm

•  Degree of Freedom: 5
•  Payload Capacity(Fully Extended) : 600gm
•  Maximum Reach(Fully Extended) : 72cm
•  Rated speed(Adjustable) : 0-0.3 m/s
•  Joint speed(Adjustable) : 0-60 rpm
•  Hardware interface : USB
•  Control Software :Arduino mega computer interface(GUI)
•  Base Spin : 360 °
• Gripper Opening(Max) : 5cm
• Drill chuck :  max. bit size:  1cm (approx)

Final Deliverable of the Project HW/SW integrated systemCore Industry ManufacturingOther Industries Education Core Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	74500
material aluminuim (kg)	Equipment	5	2500	12500
High torque sevos	Equipment	6	6000	36000
integerated PCB and arduino	Equipment	1	10000	10000
gear system	Equipment	2	1000	2000
AI sensors	Equipment	2	2500	5000
ball bearings and needle bearings	Equipment	5	700	3500
wires	Equipment	5	100	500
shipping charges	Miscellaneous	1	5000	5000