TRIBHUVAN UNIVERSITY

INSTITUTE OF ENGINEERING
PULCHOWK ENGINEERING CAMPUS
PULCHOWK, LALITPUR

PROJECT DEFENCE
ON
4 DEGREES OF FREEDOM MANUALLY CONTROLLED ROBOTIC ARM

PRESENTED BY: SUPERVISED BY:

AABHASH THAPA (077BEI001) ASSOC. PROF. SHARAD KUMAR GHIMIRE
PRANAV JOSHI (077BEI029) DoECE
SUJAN BASNET (077BEI045) PULCHOWK CAMPUS
 INTRODUCTION AND LITERATURE REVIEW
Background, Related Theory, Sources of Reference

EXPERIMENTS AND INFERENCES

Experimental setup, Results, Suggestions for Requirements,
Methodology and System Design

Contents METHODOLOGY
Feasibility study, Hardware Setup, Software Setup

SYSTEM DESIGN
Hardware Design, Software Design

RESULTS AND DISCUSSIONS

Performance Metrics and Statistical Evaluation, Concluding
Remarks
 Introduction and Literature Review
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 Robotic arm

Robotic arm is a mechanical device.

Realized by joints and links.
Actuated by motors in joints
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fig: Robotic arm in comparison to human arm

 Degrees of Freedom

Allowed number of motions.

Along a plane or about an axis.
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fig: Pitch, Yaw and Roll

 Problem Statements

Objectives: Scope
Analog input interfacing Home environments
Trigonometric assignment of robotic devices Environments of biohazard
Kinematic solutions: forward and inverse Prototype of more complex end effectors
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 Literature Review

K Asano H Cheng, Richard P. Zexiang Li, Kevin M.

K.C. Gupta Paul Richard M. Lynch,
Murray, Frank C. Park
S. Shankar
Sastry
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 Kinematic Assignment and DH table

fig: DH table
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fig: Coordinate frames

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fig: System Kinematic diagram

 DoF Decomposition
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fig: Planar yz-plane

fig: Planar x-plane

 Forward Kinematics
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 Inverse Kinematics: Analytical
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 Inverse Kinematics: Analytical
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 Inverse Kinematics: Iterative
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 EXPERIMENTS AND INFERENCES
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 INPUT INTERFACING

Input readings from joystick

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fig: Plot of input data for an arbitrary axis

 GRIPPER SWITCH

Circuit bounce for different time delays

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fig: Correlation between circuit bounces and accurate switches

 Experimental results for torque ratings
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fig: Actuator loading for experiment

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METHODOLOGY
 Micro-controller
Raspberry Pi Pico
Actuators
MG996R, MG90S
Motor driver
Feasibility Study PCA9685
Gripper Module
Joystick Switch
Input Source
Joystick
Development Environment
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Micropython SDK
 Input Interface
Requirement Analysis Coordinate Frame Assignment
Kinematic Solver
Actuator Control
Functional Non functional Structured
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 Hardware Design
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fig: Actuator Schematic

fig: Input Schematic

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fig: Overall Circuit Schematic

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fig: General System Layout

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fig: Class Diagram

 SYSTEM DESIGN
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fig: Final Design with Coordinate Frames fig: Final Design with Actuator Positioning
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fig: General System Flowchart

 RESULTS AND DISCUSSION
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 Experimental results for different kinematic approaches
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fig: 3D plot for experimental results

 Discussions:

Forward results and inverse solutions particularly varying

Truncation of floating point
Actuator irregularities
Validation plot and inverse solutions similar
Minor discrepancies because of parallax and physical factors
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 ACHIEVEMENTS
Integration, Control, Modeling

CONCLUDING IMPORTANCE
Applications, prototyping

REMARKS
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CHALLENGES AND ENHANCEMENTS

Hardware support, Schedule Overrun, Scope of improvement
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