TASK PHASE

A REPORT ON ROBOTIC ARM

BY:
DEBAYAN DEB
In this report we are going to learn about the making & functioning
of a welding robotic arm.
In my report I will be emphasizing on the following topics:

 Designing Process
 Type of end effector used
 MATLAB code for forward kinematics
 DH parameter table outlook
 Introduction/Abstract: Configuration, DOF, workspace etc.
 Applications & scope: Target industry/users
First of all, let me define what a Robotic Arm is. A robotic arm
is a programmable mechine that is quite similar to a human arm,
capable of performing various tasks assigned to it.
A robotic arm can perform different motions (rotational &
translational) on the same time depending upon the Degree of
Freedom (DOF) of the links it is made up of. It mainly functions
on the forward & reverse kinematics system.
The whole manipulator system of a robotic arm consists of 4
parts:

 Base: It is the part of the arm that provides foundation to

the rest of the tool.
 Arm: This part is joined directly to the base and provides
for the further joining of the remaining parts.
 Wrist: This part is joined to the arm & provides support to
the end effector.
 End Effector: This is the functional tool of a robotic arm
meant for performing several tasks.

Fig: Layout of a robotic arm

In this report, we will be discussing about a welding robotic arm
where the end effector is a welding machine.

Fig: A welding robotic arm.

1. DESIGNING PROCESS:
It consists of 5 different parts- base, jaw1, jaw2, jaw3 & the
end effector (welding tool).
The parts are made in sequence and then joined accordingly to
execute the function.

 Base:This is the foundation element for the robotic arm.

Fig: Base Structure

This is a cylindrical structure of a large radius to provide a
larger surface area for the mounting of the arm elements on
it. To maintain the weight of the machine there are also slots
attached to the 4 sides of the circular base. These slots
provide uniformity to the weight of the robotic arm & also
help in the easy fixing to the ground. The base is provided
with a small cylindrical projection of a specific radius on
the top for joining to the latter part which would be having a
hole in its base of the same radius as of the cylinder. The
top surface of the base should be smooth so that the latter
parts can rotate with respect to this. The base part should
also be thick enough to carry the weight of the whole arm.
This is the primary element of the structure so to have a
proper robotic arm the base should be carefully designed
otherwise the structure may not be strong.

 Jaw1:

Fig: Jaw1
This is the second element of the whole manipulator system.
This part is mounted on the base & joined by a rotatory joint
so that it can easily rotate & provide further rotation to the
latter parts. It has a cylindrical base over which is mounted
a racquet like structure for the linear connection of the
structures. The jaw1 has a gear like structure on one side to
provide tightness to the joint, the other part of the jaw has
a hole for joining to the second jaw. This part provides
rotatory motion to the next link.
  Jaw2:

Fig: Jaw2
This is the second jaw element of the robotic arm. It comprises of
two circular structures bridged together. The two circles have
different radii, both capable of making joints. The larger circle
makes joint with the jaw1 & the smaller one gets joined to the 3rd
jaw; all joints being rotatory. This part acts as a bridge element
for the rotatory links capable of rotating with respect to each
other. Both the circular sections have cylindrical projections on
their smooth surfaces that fit into the holes of other two jaw
elements & make joints.

 Jaw3:

Fig: Jaw3
This is the final jaw element in the robotic arm. This part
provides for the joining of end effector to the rest of the
body. This is a gun like structure with a cylindrical
projection at the face of it that holds the end effector. The
lower part of this jaw is joined to the second jaw while the
upper part is joined to the end effector. This part acts as
the wrist of the arm that moves freely & gives the end
effector its projection to work. This is the final linkage of
the arm system before the end effector. These three jaws make
up the basic structure of the robotic arm & provides the
rotatory movements to it.

 End Effector:

Fig: Welding Tool (End Effector)

This is the working element of the robotic arm. In our model
we have a welding tool as the end effector meant for welding
tools. This part is connected to the third jaw therefore
completing the robotic arm. This is a cylindrical structure
with a funnel like structure in front of it with a narrow
opening that performs the welding. The jaws make the end
effector execute its function by giving it directions through
step by step rotatory motions. Along with this tool the
robotic arm is ready to perform welding.

 Final Layout:

Fig: Welding Robotic Arm

Now we have a complete structural robotic arm with a welding
tool as the end effector. It has three rotatory joints (RRR
configuration) therefore forming an Articulated workspace. The
jaw1 can rotate with respect to the base, the jaw2 can rotate
with respect to jaw1 & jaw3 along with the end effector can
rotate with respect to the jaw2 thus making a complete
arrangement of links to execute the functioning of the arm.

Dh Parameters:
Link di Θ Li α
1 0 0 deg 0 90 deg
2 a 0 deg 0 x deg
3 b 0 deg 0 y deg

Fig:Rotation of links with axes

In above DH table:

 di= distance of one link to another along x axis.

 θ = angle made by one link on other in linear position.
 Li = separation between two links at the junction point.
 α = rotatory angle between two links.
The DH parameters can be used in finding the final position of an
end effector if the angles of rotation are known.
Concept:

 The base joint rotates by an angle of 90degrees and changes

its axes.
 Then the 1st link rotates with respect to the base at a
specific angle & similarly the 2nd link rotates with respect to
the 1st one.
 If we know the values of angles of rotation & the length of
the link we can determine the final position of the end
effector through methods of forward kinematics.

MATLAB program to find final position

of end effector through forward
kinematic equations:

We will be taking the reference of the above DH table & the rotation
diagram. Assume the initial position of the end effector is given by
p([b*cos(y) b*sin(y) 0 1]) & the final position be q.
The transformation matrix of 1st link is given by- T00([0 0 1 0; 1 0
0 0; 0 1 0 0; 0 0 0 1])
Transformation matrix of the second link by – T01([cos(x) -sin(x) 0
a*cos(x); sin(x) cos(x) 0 a*sin(x); 0 0 1 0; 0 0 0 1])
Transformation matrix of the 3rd link by- T02([cos(y) -sin(y) 0
b*cos(y); sin(y) cos(y) 0 b*sin(y); 0 0 1 0; 0 0 0 1])
The overall transformation matrix for the whole arm can be written
as – TE = T00*T01*T02
The new position of the end effector q can be calculated as-
q = TE*p’
The MATLAB function is as follows:

function [T00,T01,T02,TE,p,q]= forward_kinematics(x,y,a,b)

T00=[0 0 1 0; 1 0 0 0; 0 1 0 0; 0 0 0 1];
T01=[cosd(x) -sind(x) 0 a*cosd(x); sind(x) cosd(x) 0 a*sind(x); 0 0
1 0; 0 0 0 1];
T02=[cosd(y) -sind(y) 0 b*cosd(y); sind(y) cosd(y) 0 b*sind(y); 0 0
1 0; 0 0 0 1];
TE=T00*T01*T02;
p=[b*cosd(y) b*sind(y) 0 1];
q= TE*p';

Applications of the welding Robotic

Arm:

 The welding robotic arm can be mainly used in manufacturing

industries such as automotive industries, heavy metal
industries & other factories.
 Mainly used for welding metallic parts & equipment for joining
two or more parts together etc.
 Welding robotic arms are used in large scale in various
industries & the growth of manufacturing of such robots are
also taking place on a large scale.
References:
 YouTube
 R.K.Mittal