Project presentation for mid semester evaluation

on
Design and Development of a Robotic Arm with obstacle
avoidance

Presented by Supervised by
Raj Vardhan - 20213033 Dr. SB Mishra Sir
Saurabh Kumar - 20213029
Pushpendra Verma - 20213145
Priyanshu Bhushan-20213026

Department of Mechanical Engineering

Motilal Nehru National Institute of Technology Allahabad
Need-
• Robotic arms are widely used in industries for tasks such as pick-and-
place operations, assembly, and material handling due to their
precision and ability to automate repetitive tasks. However, a critical
issue arises when obstacles come into the arm's operational path.
This can lead to interruptions, reduced task efficiency, potential
damage to both the arm and surrounding equipment, and the need
for human intervention.

Objective-
• Design a 6-DOF robotic arm capable of performing pick-and-place
tasks in a laboratory, such as handling small test samples, vials, or
delicate components, with high precision.

• Develop the robotic arm by fabricating the mechanical

components, integrating necessary sensors, and programming the
control system to ensure smooth operation and accurate task
execution.
Object Specifications:
• Weight: Up to 200 grams.

• Size: Variable, generally small objects up to 5 cm x 5 cm x 5 cm

• Material: Suitable for handling both brittle materials (e.g., glass vials) and
ductile materials.

Additional Applications of Robotic Arms in Pick-and-Place Operations:

• Small-Scale Manufacturing: Handling miniature components such as screws,

bolts, or electronic connectors.

• Assembly of Small Devices: Useful for assembling tiny mechanical or electronic

parts in controlled environments.

• Sorting and Packaging: Packaging brittle and ductile materials such as small
plastic components, glass vials, and lightweight metal pieces.
CAD model of Robotic Arm-

Fig: CAD model of Robotic Arm

Mechanical Design of Robotic Arm
Torque at Each Joint:
Calculation Method:
Where:
The resistive torque T due to gravity acting on a link can be calculated as:
r = distance from the joint to the center of
mass of the link (length of the link).

W = weight of the link = 𝑚⋅g

Base Joint (T1g): The waist rotation does not cause motion of any link in the
θ = angle between the link and the direction
vertical plane (i.e. against gravity).
of gravity (90° for horizontal).

Shoulder Joint (T2g):

Elbow Joint (T3g):

Joint4 (T4g):

Joint5 (T5g):

Joint6 (T6g): Opening and closing of gripper jaws does not result in motion against gravity .

Where:
Link Length: Mass of Links:
T1g to T6g - The Resistive torques at
each joint due to gravity

W2 to W5 - The weights of links L2 to L5

Wj1 to Wj5 - The weights of joints 1 to

5 (motor)

W gripper - The weight of the gripper

W payload - The weight of the payload

L2 to L5 - The lengths of links L2 to L5

Value of torque for different payloads:
To determine the optimum payload for a 6-DOF robotic arm, We have calculated the torque required at each joint for
various payload weights using the provided formulas. When one or more joints surpass their torque limits, the maximum
payload is reached.

(i) For W payload=100g

(ii) For W payload=200g (iii) For W payload=300g

Motor Selection:
To overcome the resistive forces at each joint, the robotic arm for this project needs actuators that can produce enough
torque. According to the torque calculations, the servo motors listed below have been chosen.

MG996R Servo Motor: The MG996R is chosen for its high torque capacity, making it ideal
for supporting the heavier links closer to the base.
SG90 Servo Motor: The SG90 servo motor is selected for its compact size and lower
torque requirement.
Torque Rating:
MG996R Servo motor

Operating Speed:

SG90 Servo motor

Maximum Payload:
The maximum payload of the robotic arm is determined by analyzing the torque at each
joint under maximum horizontal extension and comparing it with the torque capacities
of the motors. With MG996R (1.079 Nm) for the first three joints and SG90 (0.1568 Nm)
for others, the arm can safely lift a maximum payload of 200 g, ensuring all joint
torques remain within limits for efficient operation.

Range of the Robotic Arm:

The maximum range of the robotic arm, calculated as the sum of its link lengths
when fully extended in a straight line, is 326 mm. This ensures effective pick-and-
place operations within its designated workspace, optimizing its functionality.
Kinematics of Robotic Arm-
Types of Joints:
• Rotational (Revolute) Joint: Allows rotational movement around a single
axis, enabling angular motion similar to a hinge.

• Prismatic Joint: Provides linear movement along an axis, allowing the

arm to extend or retract in a straight line.

Kinematics:
• Forward Kinematics (FK): Calculates the end-effector's position and
orientation based on the given joint angles and link parameters. It
provides the robot's final state through a series of transformations.

• Inverse Kinematics (IK): Determines the required joint angles to achieve

a desired end-effector position and orientation. It is essential for precise
movement and control.
Kinematic Diagram & Denavit-Hartenberg (DH) Convention
DENAVIT HARTENBERG CONVENTION TO ASSIGN
FRAME Rule #1: Rule #2:

The Z axis must be the axis of rotation for a revolute The X axis must be perpendicular both to its own Z
joint, or the direction of motion for a prismatic joint. axis, and the Z axis of the frame before it.

Rule #3: Rule #4:

All frames must follow the right-hand rule. Each X axis must intersect the Z axis of the frame
before it
DH Parameters:

•θ (theta): The angle of rotation around the Z-axis. Link θi αi ai di

•α (alpha): The angle between the Z-axes of consecutive joints.

1 θ₁ 90° a2 0

•d: The distance between the origins of consecutive frames along

the Z-axis. 2 θ₂ 0° a3 0

•r: The distance between the Z-axes of consecutive joints along 3 θ₃ + 90° 90° 0 0
the X-axis.
4 θ₄ -90° 0 a4

90°
5 θ₅ 0 0

(DH) parameters are a systematic way to define the geometry of a

6 θ₆ 0° 0 a5
robotic arm and represent the spatial relationship between its joints. The
DH parameters simplify the process of forward and inverse kinematics by
providing a standard way to describe the positions and orientations of
links and joints.
Rotation Matrix & Displacement Vector-

The rotation matrix is a 3x3 matrix that describes the

orientation of a robotic arm’s end-effector or joint relative
to a base or previous joint. It defines how much a
component has rotated around the X, Y, or Z axes and is
essential in determining the arm's orientation in space. he
rotation matrix is used in both forward and inverse
kinematics to keep track of how different parts of the arm 𝜃
are aligned after each movement.
Displacement Vector

The displacement vector is a 3x1 vector that specifies

the position of the robotic arm’s end-effector or joint in
3D space. It defines the exact coordinates (X, Y, Z) of the
𝑎
component relative to a base frame. The displacement 0
vector is used to calculate how far the arm has moved in
space and is critical in determining the arm’s overall 0
position during tasks like pick-and-place operations.

0 0
𝑏 0
0
𝐶
Homogeneous Transformation Matrix :
The Homogeneous Transformation Matrix (HTM) is a 4x4 matrix Displacement
Rotation matrix Vector
used in robotics to represent both the position and orientation of a
robotic arm’s end-effector or joint in a single matrix. It combines
the rotation matrix (3x3) and the displacement vector (3x1) to
provide a unified way of describing transformations between
frames in space.

Use in Kinematics-

Forward Kinematics: The HTM is used to calculate the end-effector’s

position and orientation by multiplying the transformation matrices
of each joint, providing a global position and orientation relative to
the base.

Inverse Kinematics: It helps solve for joint variables by working

backward from a desired end-effector position and orientation.
Approach to Robotic Arm Kinematics Code:

• Defining the Problem: Develop a 6-DOF robotic arm simulation using forward
kinematics to calculate the end effector's position and orientation based on joint
parameters.

• Import Libraries: Use sympy for symbolic math, numpy for calculations, and matplotlib for
visualization.

• Defining Parameters: Define link lengths and constants (a1, a2, etc.) to set up the DH
table.

• Transformation Matrix: Generate homogeneous transformation matrices using DH

parameters for rotation and translation.

• Compute Matrices: Use a loop to multiply transformation matrices iteratively for each
joint to find the end effector's final position.

• Finalize and Visualize: Compute the final matrix to determine the end effector's
position or plot its path.
Flowchart illustrating the steps involved in Robotic arm kinematics:

Figure: 3D plot illustrating the visualization of a text and a

circle in a 3D coordinate system with x, y, and z axes

Circuit Diagram :

A 6-DOF robotic arm circuit diagram represents the

control system for a robotic arm with six degrees of
freedom (DOF). It consists of six servo motors, each
responsible for controlling a joint or movement: waist,
shoulder, elbow, wrist roll, wrist pitch, and gripper.

The circuit includes:

1.Microcontroller (Arduino Uno) – Sends PWM signals to
control servo positions.
2.Servo Motors – Enable precise movement of each joint.
3.Power Source – Provides sufficient current for servo
5V

operation.
4.Connections – Signal, power, and ground lines to ensure
communication and functionality.
3-D Printing of a Robotic Arm :

The robotic arm components were 3D printed using the Ultimaker 2+ 3D printing
machine, known for its high precision and reliability. It supports PLA (Polylactic
Acid) material, which is lightweight, durable, and easy to print, making it ideal for
creating accurate and strong components.

3D Printing Specifications:
Phase 1 of our project has been successfully completed,
resulting in the development of a 3D-printed model of the
robotic arm. Throughout this phase, comprehensive
calculations and analyses were performed to ensure the
design meets the specified objectives and operational
requirements.

Design Specifications:

Figure: 3D printed parts for a robotic arm

Remaining Work:
• Assemble the robotic arm model: Build the physical model based on the
design, ensuring accurate assembly for proper functionality.

• Apply and test the code: Implement the developed control code on the
assembled model to verify pick-and-place operations.

• Integrate obstacle detection and collision avoidance: Use ultrasonic

sensors and algorithms to detect obstacles and avoid collisions during
operation.

• Path planning: Test movement planning to improve smoothness and

accuracy while navigating obstacles during pick-and-place tasks.
Cost Estimation:
Components Description Quantity Price
Arduino board Arduino Uno R3 with Cable 1 500
(Arduino uno r3)
Servo Motor MG996 High Torque Servo Motor 3 1500
(MG996R Metal
Gear Servo)
Servo Motor (Sg90 Sg90 Micro Servo motor for lower torque 3 900
Micro Servo motor) requirement
Servo driver board PCA9685 servo driver board 1 600
Breadboard 170 pts Mini Breadboard Solderless 2 400
Jumper Wire M2M,M2F,F2F ribbon cable wire set 1 250
Ball Caster Wheel 3 x Ball caster wheel Small 1 200
3D Printed Robot Printed Bots Robotic Arm (3D printed plastic Parts + 1 1500
ARM Parts Nuts Bolts)
Ultrasonic Sensor US-016 Ultrasonic Sensor 4 1200
Miscellaneous Nuts and bolts, soldering iron, cutter etc -- 500
expenses

Total Price – Rs. 7550

THANK YOU!