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International Journal of Advanced Research in Engineering RESEARCH IN ENGINEERING
INTERNATIONAL JOURNAL OF ADVANCED and Te...
International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 –
6480(Print), ISSN 0976 – 64...
International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 –
6480(Print), ISSN 0976 – 64...
International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 –
6480(Print), ISSN 0976 – 64...
International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 –
6480(Print), ISSN 0976 – 64...
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20320130406018

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  1. 1. International Journal of Advanced Research in Engineering RESEARCH IN ENGINEERING INTERNATIONAL JOURNAL OF ADVANCED and Technology (IJARET), ISSN 0976 – 6480(Print), ISSN 0976 – 6499(Online) Volume 4, Issue 7, November – December (2013), © IAEME AND TECHNOLOGY (IJARET) ISSN 0976 - 6480 (Print) ISSN 0976 - 6499 (Online) Volume 4, Issue 7, November - December 2013, pp. 156-160 © IAEME: www.iaeme.com/ijaret.asp Journal Impact Factor (2013): 5.8376 (Calculated by GISI) www.jifactor.com IJARET ©IAEME DESIGN AND DEVELOPMENT OF MODULAR HUMANOID ARM BASED ON RC SERVO MOTOR Kapse S. S.1, Dr. S. S. Ohol2 1 2 Department of Production Engineering, College of Engineering Pune, India Department of Mechanical Engineering, College of Engineering Pune, India ABSTRACT This paper presents a modular humanoid arm based on RC servo motor, it consist of mechanical design part and control part. The modular humanoid arm has 6 Degree of Freedom (DoF) from shoulder to wrist and uses RC servo motor at each joint to perform motions that mimic human arm motions. The efficient movement of humanoid robot arm depends on the servo controller that control servo motors at wrist, elbow, shoulder and multi finger gripper. Use of RC servo motor makes design compact and includes low power dissipation, high power density, and high control precision. Modularity comes in design, if the multi finger gripper replaced by pneumatic suction gripper. PIC18F4520 microcontroller is used with MICROC for PIC compiler. KEYWORDS: Anthropomorphic, Modular arm, MICROC for PIC, RC servomotor. I. INTRODUCTION Humanoids are robots that are designed for social and interactive operations. Humanoid robots have been developed by many research groups to perform motions that mimic human motions for assisting human activities. In order to behave in anthropomorphic manner, the humanoid arm should have enough Degree of Freedom. For arm, 6Dof from shoulder to wrist and for multi finger gripper it varies from 5 to 24 depending on type of motion required. The design of Humanoid Robot is shown in Fig 1. 156
  2. 2. International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 – 6480(Print), ISSN 0976 – 6499(Online) Volume 4, Issue 7, November – December (2013), © IAEME Figure 1: Design of Humanoid Robot The Robotic Research Company has developed an industrial robotic arm with modular joint and compact mechanical design [1]. Its 7 DoF are used to mimic human movement in human oriented environment. The Robotic hand from the University of Tokyo has a high control bandwidth for grasping objects using vision sensing [5]. The German Aerospace center’s (DLR’s) Light weight Robot is composed of safety brakes with modular joints are connected via carbon fiber structure [24]. NASA’s Robonaut DLR II and ARMAR III hands are latest that shows closer design concentration on mimicking human hands [6-8]. II. MECHANICAL DESIGN The mechanical design consist of 6Dof, 2 Dof for shoulder, 1 Dof for elbow and 3 Dof for wrist to perform motions similar to actual human arm. Pneumatic Suction gripper gives it modularity if it is replaced by multi finger gripper having 14 Dof. The developed modular arm is shown in fig 2. Figure 2: Six Dof modular humanoid arm with pneumatic suction gripper 157
  3. 3. International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 – 6480(Print), ISSN 0976 – 6499(Online) Volume 4, Issue 7, November – December (2013), © IAEME At each joint RC servo motor provide high control bandwidth and compact design. RC servo motor connected with angle plate in such way that, it gives high torque and less vibration as shown in fig 3. All mechanical parts of modular arm made of aluminum alloy, so that the weight of arm reduced. The arm can perform motions such as pick and place of delicate materials like glass. The weight of each RC servo motor is 70 gram with size of 60X30X54 mm, stall torque of 1.9 Nm at 6V. The wrist attachment plate is connected in such way that pneumatic suction gripper or multi finger gripper can be easily attached to it. Figure 3: Assembly of Angle plate with RC servo motor III. CONTROL STRATEGY For selection of motor, it is very important to know how much torque is required for application. The extreme case analysis of shoulder motor is done using solid works motion analysis and required torque comes to 1.6 Nm as shown in fig 4. M o to r T o rqu e 2 (n e w to n -m m ) 1600 1205 811 416 22 0.00 0.10 0.20 0.30 0.40 0.50 Time (sec) 0.60 0.70 0.80 0.90 1.00 Figure 4: Extreme case analysis for torque calculation of shoulder motor The PCB board of the controller is shown in fig 5, the microcontroller is PIC18F4520. The controller consist of : 1) Under voltage protection circuit which resets board when the power supply 158
  4. 4. International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 – 6480(Print), ISSN 0976 – 6499(Online) Volume 4, Issue 7, November – December (2013), © IAEME is below 6V and protecting voltage can be adjustable. 2) USB interface circuit which has “CTS” judging bit and can output TTL voltage. 3) The hand held control device connected via USB with main controller to send and receive control signal. 4) I/O interface circuit which has 32 I/O ports for connecting RC servo motor. 5) Programming interface circuit which adopts standard serial port ISP protocol of STC and is used to receive and data from or to MICRO C for PIC software. Figure 5: PCB of main controller A RC servo motor includes a DC motor, gear, potentiometer and control circuit. A DC motor connected with gear which gives feedback to potentiometer. The potentiometer changes its position according to current motor position. Pulse width modulation signal is required to control motor is shown in fig 6. Figure 6: Variation in Pulse width to control motor Each RC motor is controlled to get required motion. The suction generator of capacity 3 lt/min gives vital amount of air to grasp object using suction cup. 159
  5. 5. International Journal of Advanced Research in Engineering and Technology (IJARET), ISSN 0976 – 6480(Print), ISSN 0976 – 6499(Online) Volume 4, Issue 7, November – December (2013), © IAEME IV. CONCLUSION The design, manufacturing of mechanical part and assembly has been successfully finished. Total 6 RC servo motor along with pneumatic gripper has controlled using hand held device. PIC 18F4520 microcontroller along with MICROC for PIC implemented successfully. The signal from hand held device has sent or receive using USB interface to main controller. By adding visual algorithm, environmental information can be acquired and obstacle avoidance can be added. REFERENCES [1] [2] Robotics Research Co. ”K-1207i”, [2012-04-05], http://www.robotics-research.com/ J. Butterfass, G. Hirzinger, S. Knoch, H. Liu. DLR’s multisensory articulated hand, Part I: Hard and software architecture. Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998,2081–2086. [3] J. Butterfass, G. Hirzinger, S. Knoch, H. Liu. DLR’s Multisensory articulated hand, Part II: Parallel torque/position control system. Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, 2087–2093. [4] G. Hirzinger, N. Sporer, A. Albu-Schaffer, M. Hahnle, R. Krenn, A. Pascucci, M. Schedl. DLR’s torque-controlled light weight robot III: Are we reaching the technological limits now?.Proceedings of IEEE International Conference on Robotics & Automation, Washington DC, USA, 2002, 1710–1716. [5] Y. Namiki, M. Imai, M. Ishikawa. Development of a highspeed multifingered hand system and its application to catching. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2003, 2666–2671. [6] R. O. Ambrose, H. Aldridge, R. S. Askew, R. R. Burridge, W. Bluethmann, M. Diftler, C. Lovchik, D. Magruder, F. Rehnmark Robonaut: NASA’s space humanoid. IEEE Intelligent Systems, 2000, 15, 57–63. [7] C. Borst, M. Fischer, G. Hirzinger. Calculating hand configurations for precision and pinch grasps. Proceedings of IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 2002, 1553–1559. [8] T. Asfour, K. Regenstein, P. Azad, J. Schroder, A. Bierbaum, N. Vahrenkamp, R. Dillmann. ARMAR-III: An integrated humanoid platform for sensory-motor control. IEEE-RAS International Conference Humanoid Robots, Genova, Italy, 2006, 169–175. [9] Wang Ximing Gao Wei, “Research on the Control of DC Servo Motor by Microprocessor” Sci. Tech Engng, China, Vol.7 No.14 July 2007. [10] Nitin Kardekar and Dr Sane N K, “Effect of Humanoid Shaped Obstacle on the Velocity Profiles of Flow of Air Curtain”, International Journal of Mechanical Engineering & Technology (IJMET), Volume 3, Issue 3, 2012, pp. 511 - 516, ISSN Print: 0976 – 6340, ISSN Online: 0976 – 6359. [11] Hameedah Sahib Hasan and Dr. P.Ramesh Babu, “Analysis and Control of Mobile Robot for Pipe Line Inspection”, International Journal of Mechanical Engineering & Technology (IJMET), Volume 4, Issue 5, 2013, pp. 1 - 9, ISSN Print: 0976 – 6340, ISSN Online: 0976 – 6359. [12] Srushti H. Bhatt, N. Ravi Prakash and S. B. Jadeja, “Modelling of Robotic Manipulator Arm”, International Journal of Mechanical Engineering & Technology (IJMET), Volume 4, Issue 3, 2013, pp. 125 - 129, ISSN Print: 0976 – 6340, ISSN Online: 0976 – 6359. 160

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