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    ECE - 3641 Project Proposal

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    ananya Rupa
    This document is a project proposal for a "Hand Alike Arm Moving Robot" by students Nintu Choiti and Adam Algalham. The robot will be able to move its arm 360 degrees at each joint to pick up and transport objects. The success of the robot depends on properly designing the arm joints using inverse and direct kinematics. So far, the students have built the robot frame, connected the servo motors, and written code to control some of the motors. Their next steps are to refine the gripper movement and make the full arm motion smooth. The overall goal is to create a robot arm that can stably pick and place objects as directed.

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    ECE - 3641 Project Proposal

    Uploaded by

    ananya Rupa
    43 views11 pages
    This document is a project proposal for a "Hand Alike Arm Moving Robot" by students Nintu Choiti and Adam Algalham. The robot will be able to move its arm 360 degrees at each joint to pick up and transport objects. The success of the robot depends on properly designing the arm joints using inverse and direct kinematics. So far, the students have built the robot frame, connected the servo motors, and written code to control some of the motors. Their next steps are to refine the gripper movement and make the full arm motion smooth. The overall goal is to create a robot arm that can stably pick and place objects as directed.

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    This document is a project proposal for a "Hand Alike Arm Moving Robot" by students Nintu Choiti and Adam Algalham. The robot will be able to move its arm 360 degrees at each joint to pick up and transport objects. The success of the robot depends on properly designing the arm joints using inverse and direct kinematics. So far, the students have built the robot frame, connected the servo motors, and written code to control some of the motors. Their next steps are to refine the gripper movement and make the full arm motion smooth. The overall goal is to create a robot arm that can stably pick and place objects as directed.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    43 views11 pages

    ECE - 3641 Project Proposal

    Uploaded by

    ananya Rupa
    This document is a project proposal for a "Hand Alike Arm Moving Robot" by students Nintu Choiti and Adam Algalham. The robot will be able to move its arm 360 degrees at each joint to pick up and transport objects. The success of the robot depends on properly designing the arm joints using inverse and direct kinematics. So far, the students have built the robot frame, connected the servo motors, and written code to control some of the motors. Their next steps are to refine the gripper movement and make the full arm motion smooth. The overall goal is to create a robot arm that can stably pick and place objects as directed.

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    © All Rights Reserved
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    ECE – 3641

    PROJECT PROPOSAL
    By
    Nintu Choiti & Adam Algalham

    There are so many projects are using robot manipulation. Among all these
    interesting project ideas we have chosen to do our project about "Hand Alike Arm
    Moving Robot".

    It will be related to the topics and the formulas our Professor described in class.
    This robot is basically Multi input, output with end effector systems.
    Our robot will be able to move any objects from one place to other place, it will be
    able to move it’s whole arm 360 degree even all of it’s joint, it can push an punch
    and object.
    Designing our robot's success mainly depends in the structure of choosing arm
    joints. There will be an estimated amount of force and gravity to get the expected
    shape of the robot. They are responsible for the movement of the arm in the robot.
    Here some figure to describe arm structure by using inverse and direct kinematics :
    Model Of the Robot:

    We have done activities on Lab 1 and Lab 2 about robot manipulation and how
    does it work.
    Besides we have done the formulas in class they are also related to this project.

    Goals that I expect to accomplish before each of the progress updates:


    1. Making a design of the robot

    2. Calculating and measuring the dimension

    3. Calculating Direct Kinematics, Inverse Kinematics, Dynamics.

    4. Simulation

    5. Ordering parts and necessary instruments

    6. Add them to each other.

    7. Putting the sensors and make electrical connections on the robot.

    8. Make a computer program to let our robot move.

    The Components :
    Arduino Uno R3,
    Jumper wire
    Servo Motor
    Robot kit for making the robot body
    Screw, Bolds, Gripper
    Hardwood board
    Power supply (battery)

    Project Updates that we have made:


    As described in the previous report we have ordered the necessary equipment and
    tools, we have received those. The pictures of equipment are given below:
    Frame: Robot kit with 6 servo motors

    Frame: PCA9685 Board( Servo Motor Driver)


    Frame: Arduino Board

    After receiving our necessary tools and equipment our 1st step was to build the
    robot. As there was no manual for this, it was a little hard to give the equipment the
    shape of a robot. We were able to build the robot body successfully.
    Our 2nd step was to connect to servo motors in all the joints of the robot. Then we
    made connections between the servo motors and the motor driver. We followed our
    tinker-CAD design to make the connections between the Arduino and motor.
    Frame: Servo motor and arduino connection design

    To check the connection, we applied 4.14 volts to the board, but it wasn’t enough
    for our robot to work. It was falling again and again. It could not stand stable. So,
    we had to change that to 5 volts. Then it became stable and could stand straight.
    Frame: The robot staying straight by its own

    The motors started working after getting the voltage of 5V. Then we wrote Arduino
    codes to make our robot work as our desired way.3 motors (base and middle two)
    are working perfectly, and they can move 360 degrees. But we couldn’t figure out
    the right calculations for the other 3 motors yet.

    We roughly get our robot to make pick and place items.


    (Video attached in the comment)
    We are still trying to figure out the exact values for the gripper opening and holding
    object and putting it in the right place. Our next step is to make our robot
    movements smooth.

    Our project deliverable is to make a Hand Alike Arm Moving Robot which will be
    able to use and move its arm depending on necessity and pick and place an object in
    the required place. Another goal is to make the motor movement stable and nice.

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