A 4-Axis Robot Arm

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Description of our 4-Axis Robot Arm

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A 4-Axis Robot Arm

  1. 1. Development of a Five Axis Robot Arm implemented usinga PIC Microcontroller and LabVIEW Robotics 2010 Akanksha Bahuguna Ayush Dewan Saurav Gusain Souri Guha Applied Electronics and Instrumentation 2011 Batch
  2. 2. Our aim is to build a 4-axis Robot Arm The motion of the Arm will be controlled by a PIC Microcontroller that will communicate on a real time basis with LabVIEW which will do the calculationsOur Objective The basic function of the device will be to pick and place small objects
  3. 3. • Concept & MotivationAgenda • What we wanted • The big picture • Visualization • Distribution of Work • Mechanical Design • Resources and help • Design stages • Logic Overview • It’s all about building an intelligent device! • Electronic Design • Components we needed • Getting them to talk to each other • Development of the PCB • Programming the Brains of the Robot • Why LabVIEW? • Interfacing PIC with LabVIEW • Moving the first Motor • Remaining Work • Project Budget • ETA • Resources
  4. 4. The design should be simple yet High grade Accuracy and Speedcomplex/stable enough forIndustrial Applications and forR&D of various algorithms usedin Robotics Easy to modify Should be able serve the purpose of Educational RoboticsWhat we wanted when we A prototype for a device that isthought of building the Robot ready to be used in Industry
  5. 5. Motivation
  6. 6. First Level Visualization
  7. 7. 1. Acquisition of relevant data Akanksha, Ayush, Souri, Saurav2. Research on different Design types and choosing the best possible Akanksha, Saurav3. Decide Robot Parameters Ayush4. Verification of Parameters in Robotics Toolbox for MATLAB Souri5. Simulation of all devices in PROTEUS Ayush, Souri6. Implementation of Arm Parameters in LabVIEW 2010 Ayush, Souri7. Re-Verification of Arm Parameters in LabVIEW 2010 Saurav, Akanksha8. Mechanical Design of Robot Souri9. Manufacturing of Robot Saurav, Ayush9. PCB Design for Robot Souri , Akanksha10. PCB Manufacture Akanksha11. Selection of Servo Motors Saurav12. Calibration of Motors Souri13. PID Control Design and Implementation of different Modes Souri, Ayush, Akanksha, Saurav14. Improvisation Ayush, Souri, Akanksha, Saurav15. Implement further use cases and extend funcionality Souri, Ayush Completed Ongoing Left Distributed Resposibilities
  8. 8. Initial Design Revisions Development of Parts Assembly DesignMechanical Design Resource: MIT OpenCourseware Video Lectures
  9. 9. • Concept & MotivationAgenda • What we wanted • The big picture • Visualization • Distribution of Work • Mechanical Design • Resources and help • Design stages • Logic Overview • It’s all about building an intelligent device! • Electronic Design • Components we needed • Getting them to talk to each other • Development of the PCB • Programming the Brains of the Robot • Why LabVIEW? • Interfacing PIC with LabVIEW • Moving the first Motor • Remaining Work • Project Budget • ETA • Resources
  10. 10. Servo 1 Servo 2 Servo 3 Multiple Quadrature Encoders PIC Microcontroller Servo 4 Ethernet/Serial Bus Servo 5 Grip Servo ComputerArchitecture of our Robot Arm
  11. 11. Formatted Feedback Data from Microcontroller Predefined Robot LabVIEW Robotics Structure PIDSoftware Architecture of the Robot Inverse Kinematics Control Logic Calculation Formatted Output Setpoint Data from PC LabVIEW Compatible Required Robotics Hardware Functionality
  12. 12. Manipulation of the Robot Arm
  13. 13. • Concept & MotivationAgenda • What we wanted • The big picture • Visualization • Distribution of Work • Mechanical Design • Resources and help • Design stages • Logic Overview • It’s all about building an intelligent device! • Electronic Design • Components we needed • Getting them to talk to each other • Development of the PCB • Programming the Brains of the Robot • Why LabVIEW? • Interfacing PIC with LabVIEW • Moving the first Motor • Remaining Work • Project Budget • ETA • Resources
  14. 14. 1. PIC Microcontroller 2. Servo Motors 3. LCD (for Debugging) 4. Serial/Ethernet InterfaceComponents we needed 5. EEPROM
  15. 15. Design of the Schematic on EAGLE
  16. 16. The Layout
  17. 17. Generating the Layout in 3d – To prevent any misplaced component
  18. 18. Getting the PCB Ready
  19. 19. The Final PCB
  20. 20. • Concept & MotivationAgenda • What we wanted • The big picture • Visualization • Distribution of Work • Mechanical Design • Resources and help • Design stages • Logic Overview • It’s all about building an intelligent device! • Electronic Design • Components we needed • Getting them to talk to each other • Development of the PCB • Programming the Brains of the Robot • Why LabVIEW? • Interfacing PIC with LabVIEW • Moving the first Motor • Remaining Work • Project Budget • ETA • Resources
  21. 21. Robot Arm Controller Design in LabVIEW
  22. 22. Robot PIC Remote Microcontro Serial/Ethernet Interface Arm ller PCControl Flow of a Single Cycle of Operation
  23. 23. Demonstration Logic • Kinematics Dynamics Controller Design Proteus/LabVIEW Coding Technique Matrices in LabVIEW Simulations
  24. 24. 1. Acquisition of relevant data October ‘102. Research on different Design types and choosing the best possible November ‘103. Decide Robot Parameters November ‘104. Verification of Parameters in Robotics Toolbox for MATLAB November ‘105. Implementation of Arm Parameters in LabVIEW 2010 November ‘106. Re-Verification of Arm Parameters in LabVIEW 2010 November ‘107. Mechanical Design of Robot December ‘108. Manufacturing of Robot February ‘119. PCB Design for Robot February ‘1110. PCB Manufacture February ‘1111. Selection of Servo Motors January ‘1112. Calibration of Motors January ‘1113. PID Control Design and Implementation of different Modes March ‘1114. Improvisation March-April ‘1115. Implement further use cases and extend funcionality March-April ‘11 Completed Ongoing Left Estimated Project Timeline
  25. 25. thank You!

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