International Research Journal of Engineering and Technology (IRJET) e-issn: Volume: 02 Issue: 02 May p-issn:

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1 Interntonl Reserch Journl of Engneerng n Technolog (IRJET) e-in: Volume: Issue: M-5 p-in: 95-7 Moulr Robotc Arm ntosh Chuhn, wpnl Chuhr, Ronk eth, chn Ahre 4, Deepk Mlche 5 Assstnt Professor, Deprtment of Mechncl Engneerng, F.C.R.I.T, Vsh, Nv Mumb 47, In.,,4,5 UG tuents, Deprtment of Mechncl Engneerng, F.C.R.I.T, Vsh, Nv Mumb 47, In *** combnes the fleblt of reconfgurble moulr hrwre wth moulr progrmmng tools, llowng the users to rpl crete mnpultor whch s customtlore for gven tsk. The centrl bulng block of rpl eploble sstem s Reconfgurton Moulr Mnpultor stem (RMM). Y. Kog n J.C. Ltombe [] propose prctcl plnner for PUMA rms mnpultng n object usng preefne set of grsps. More recent work resse smlr problem for the cse of ul-rm mnpulton wth regrspng for humno robot b N. Vhrenkmp [4]. Abstrct - The fleblt n control of robotc rm hs been chllenge snce erler s of robots. K.H.Wurst evelope the frst Reconfgurble moulr robots n the contet of mnpultor rms. P.K. Khosl evelope sstem whch combnes the fleblt of reconfgurble moulr hrwre wth moulr progrmmng tools, llowng the users to rpl crete mnpultor whch s custom-tlore for gven tsk. In the present pper, knemtc homogenous 4X4 mtr clculton s use to control the -es moulr robotc rm. Wth ths pproch t s possble to evelop lgorthms for controllng movements. Actul robotc rm hs been esgne usng INVENTOR moellng softwre. Jonts re move usng DC servo motors n the en effector s postone usng pneumtc clner whch s ctute usng soleno vlve wth flow control vlve to just the stroke spee. Aruno s use for controllng the robotc rm. The testng ws crre out on Jomn En Quench Apprtus n t ws observe tht the robot ws workng pproprtel. Ke Wors: Moulr robotc rm, Knemtc moellng, Jomn En Quench Test. INTRODUCTION To s nustr s focus s to mnme humn nterventon n hnlng crtcl envronmentl pplctons. Wth so much vncement n reserch works crre out cross the worl, ths rem cn be bsolutel me nto relt n the ge of utomton wth the current technolog. Pck n plce robots re ble to prove solutons n mn pplctons. Among the erler work on ths re, K.H.Wurst [] evelope the frst Reconfgurble moulr robots n the contet of mnpultor rms. He ponte out tht, n the selecton of robots n proucton envronments, n optml robotc evce cn selom be reche n n most cses one hs to mke compromse between selecte robots n fctors such s workng rnge, spee, lo n rgt. P.K. Khosl [] evelope sstem whch In the present stu, -DOF mnpultor s esgne n nle n orer to gn n n epth unerstnng of postonng ssues n solvng wth the use of knemtc moelng metho. A -DOF moulr robot s esgne whch uses 44 homogenous mtr to solve the poston n orentton of en-effector from bse. Poston here, refers to poston control n spce of en-effector of robot rm of lst lnk or bse. The esgne -DOF robot rm conssts of es to generte rbtrr poston n specfe spce n lst lnk s neee to hnle the object. The en effector s postone usng pneumtc clner whch s ctute usng soleno vlve wth flow control vlve to just the stroke spee. Ths robotc rm s esgne n INVENTOR softwre n MATLAB softwre s use for smultng the lnks. The fbrcton s one b two hgh torque DC servo motors for jonts moments n the re connecte through the steel ppes. Aruno s use for controllng ll DC servos. The pper s orgne s follows, n secton &, bref escrpton bout knemtc nlss s gven. In secton 4, bref scusson bout esgn crter of -of robotc rm s gven n ecton 5, 6 & 7 represents smulton, testng n concluson.. KINEMATIC ANALYI ALGORITHM Robotc rm knemtcs els wth the nltcl stu of geometrc moton of robotc rm from fe reference of coornte sstem s functon of tme [5]. -DOF Moulr robotc rm s esgne b nverse knemtc nlss methos. Drect knemtcs usull refers to home 5, IRJET.NET- All Rghts Reserve Pge 76

2 Interntonl Reserch Journl of Engneerng n Technolog (IRJET) e-in: Volume: Issue: M-5 p-in: 95-7 poston of geometrc lnk prmeters. It s use to fn the poston n orentton of en effector. Inverse knemtcs usull refers to poston n orentton of en effector. It helps to fn jont vrbles to rchve correct poston of source locton prt [6]. The reltonshp between rect n nverse knemtcs problem s shown n Fgure wth the help of smple block grm. Globl co-ornte s s set t the groun n wth respect to tht the other co-ornte es re set n from those co-ornte es the requre prmeter whch escrbes the poston n orentton of the en effector s obtne. Generl representton of the locl co-ornte s wth respect to globl co-ornte s s s shown n equton () cos C cos G CC C T L C () Globl co-ornte s s set t the groun n wth respect to tht the other co-ornte es re set n from those co-ornte es we get the requre prmeter whch escrbes the poston n orentton of the en effector. Fg -: Drect n Inverse knemtcs problem [7]. INVERE KINEMATIC ANALYI The frst step n the present stu nvolve revewng n unerstnng the confgurton of robotc rm. The etls of forwr n nverse knemtcs for precse postonng of the en effector were stue. B usng Denvt-Hrtenberg (D-H) [5] nverse knemtcs, the soluton for the requre confgurton s obtne. The D- H prmeters re shown n tble. Tble -: Prmeters of Robotc Arm 9 = ngle between n long s. = stnce between n long s. = stnce between n. = ngle between n. Trnsformton s gven b the followng mtr multplcton n generll represente s follow, T T T = n P n P n P n n = rottonl element n n, P P = elements of postonl vector P () Locl Co-ornte frme wth respect to globl frme s obtne b substtutng the prmeters of tble n equton, the mtr for T, T obtne re s gven below, cos T = sn sn cos cos sn cos T = sn cos sn 5, IRJET.NET- All Rghts Reserve Pge 77

3 Interntonl Reserch Journl of Engneerng n Technolog (IRJET) e-in: Volume: Issue: M-5 p-in: 95-7 ubsttutng the obtne vlues of T, T n equton we get, CC C CC T () Comprng Mtr () wth the generl Mtr (), we get n C C n n C P C C P P Ths s ctute usng soleno vlve wth flow control to hve esre spee of the forwr n return stroke. The elbow s prove wth motor block ssembl s shown n Fgure. These motor ssembles re connecte to ech other through steel ros. Ths forms the whole ssembl of robotc rm s shown n Fgure. Fg -: Assembl of the motor block C cos sn C sn j j cos j j Moellng equtons cn be use to fn the poston n orentton of robot rm b gvng the vlue of jont vrbles n geometrc lnk prmeters. In orer to control the poston n orentton of eneffector of robot rm to rech ts object, the nverse knemtcs soluton s more mportnt [7]. In ths project, nverse knemtcs problem s solve b geometrc pproch metho. Ths metho proves more nsght nto solvng smple mnpultors wth rottor jonts [5]. 4. DEIGN PECIFICATION OF -DOF ROBOTIC ARM The presente mechncl esgn of robot conssts of lnks.e., bse, elbow. Grpper s connecte t the en of elbow. Through the elbow, pneumtc clner s ftte whch hs 5 cm stroke length. Fg -: Full ssemble robotc rm A ervo motor s gere DC motor wth encoer tht llows rotor to be postone ccurtel. Internll, servo conssts of DC motor n control crcut. The control crcutr compres n ngulr poston, etermne b control sgnl, to the current poston of the motor shft. Ths DC servo motors re use to move the jonts of robotc rm to cheve the esre poston. The ctuton of the motor s cheve through Aruno. 5, IRJET.NET- All Rghts Reserve Pge 78

4 Interntonl Reserch Journl of Engneerng n Technolog (IRJET) e-in: Volume: Issue: M-5 p-in: CONTROL OFTWARE The robotc rm s controlle usng Mtlb softwre. A GUI esgne n Mtlb computes the requre ngles of ech jont usng nverse knemtcs. The compute vlues re sent to the Aruno MEGA 56 mcrocontroller whch then rel the nformton to the motors. The communcton between Mtlb n Aruno s one usng serl protocol v UB. The fferent components of the Mtlb GUI s shown n Fgure 4. The fbrcte -DOF moulr robot rm s ntrouce for rel tme hnlng of hot work pece n het tretment operton (.e., for Jomn En Quench test) n t controls the pck n plce tsk urng the testng. MATLAB nterfcng wth the robotc rm proves ese of operton n pckng up the object. 7. CONCLUION In the present stu, we hve suggeste moulr robotc rm whch s es to ssemble n hs low cost. Ths robotc rm tht cn be use n collbortve envronment workng longse humn opertor becuse of ts lght constructon. The mn objectve of the project ws to utomte mnul operton of object hnlng. Ths ws cheve through the nterfcng of robotc rm wth MATLAB softwre. GUI s evelope n MATLAB whch clcultes the lnk ngles usng nverse knemtcs prncple. Aruno MEGA 56 s use whch tkes these lnk ngles from GUI n ctutes the motors. The testng ws crre out on Jomn En Quench Apprtus n t ws observe tht the robot ws workng pproprtel. The pplcton of ths robotc rm cn be etene to pck n plce n object whose weght s below.4 kg wthn stnce of.5 m from the bse motor. ACKNOWLEDGEMENT Fg -4: Mtlb GUI 6. TETING We, the members of the group workng on MODULAR ROBOTIC ARM woul lke to tke ths opportunt to thnk ll those who hve whole hertel lent ther support n contrbute n ths We re sncerel grteful to our HOD Dr..M. Khot n prncpl Dr. Rolln Fernnes for gvng us n opportunt to work on ths We re sncerel thnkful to our gue Prof. ntosh J. Chuhn for hs vluble, nsprng n tmel gunce n ssstnce throughout the course of the We woul lke to sncerel thnk Mr. Moreshwr Kor, Instructor, Centrl Workshop, F.C.R.I.T Vsh for helpng us wth the fbrcton of the components. Fg -5: Jomn En Quench etup Lstl, we woul lke to thnk ll those people who rectl or nrectl contrbute to our 5, IRJET.NET- All Rghts Reserve Pge 79

5 Interntonl Reserch Journl of Engneerng n Technolog (IRJET) e-in: Volume: Issue: M-5 p-in: 95-7 REFERENCE BIOGRAPHIE [] K. H. Wurst, The concepton n constructon of moulr robot sstem, Interntonl Journl of centfc n Reserch Publctons, 986. [] P. K. Khosl, H. B. Brosn, n C. J. Pres, A rpl eploble mnpultor sstem, MN, pp , 996. [] Y. Kog n J.C. Ltombe, On mult-rm mnpulton plnnng, IEEE Conference on Robotcs & Automton, volume, pp , 994. [4] N. Vhrenkmp n et l., Humno moton plnnng for ulrm mnpulton n re-grspng tsks, n IEEE/RJ Int. Conf. on Intellgent Robots & stems, October 9. [5] T. C. Mnjunth, Knemtc moelng n mneuverng of 5-es rtculte robot rm, Worl Acem of cence, Engneerng n Technolog 8 7. [6] Weh n Guln Yng, Crtesn coornte control for reunnt moulr robots, IEEE Gntc nsttute of mnufcturng technolog,. [7] Mn Tn., An Anlss of the Inverse Knemtcs for 5-DOF Mnpultor, Interntonl Journl of Automton n Computng, Chn, 5. Mr. ntosh J. Chuhn s Assstnt Professor n Mechncl Engneerng Deprtment of F.C.R.I.T. Vsh. He hs eght ers of eperence n hs publshe mn reserch ppers n ntonl n nterntonl journls. Mr. wpnl. Chuhr s Fnl Yer tuent n Mechncl Engneerng Deprtment of F.C.R.I.T. Vsh worke uner ths Mr. Ronk eth s Fnl Yer tuent n Mechncl Engneerng Deprtment of F.C.R.I.T. Vsh worke uner ths Mr. chn Ahre s Fnl Yer tuent n Mechncl Engneerng Deprtment of F.C.R.I.T. Vsh worke uner ths Mr. Deepk Mlche s Fnl Yer tuent n Mechncl Engneerng Deprtment of F.C.R.I.T. Vsh worke uner ths 5, IRJET.NET- All Rghts Reserve Pge 74