Strong hold team has designed and manufactured a 90 cm long robotic arm in spring 2017. It is part of the mechatronics course project that required design, analyse, manufacture and control a 6 degrees of freedom robotic arm that is capable of picking and placing stationary and moving objects. The arm is equipped with a 3D camera for the vision and was able to mimic the human arm motion successfully. I was leading the mechanical team and involved in the design and assembling the robot parts. Youtube Videos: https://youtu.be/F-TPUIYYAzc , https://youtu.be/WUDkOi_OQT8 Project Presentation: https://www.slideshare.net/AmrMousa12/6-dof-robotic-arm-mechatronics-course-project

1. Mechanical
Ahmed El-Moslemany
Ahmed Hashem
Ahmed Nashaat
Amr Mousa
Mahmoud Ayman
Mahmoud El-Deep
Electrical
Ahmed El-ghannam
Ahmed Radwan
Esraa Hosny
Gehad Essam
Mohamed Ahmed
Mohamed El-Mallah
Mohamed Hussien
Randa Selim
Team members Supervised by
Dr. Mahmoud El-Samanty

2. Team-members
> Design and manufacturing Video https://youtu.be/F-TPUIYYAzc
> Testing and performance Video https://youtu.be/WUDkOi_OQT8

3. Agenda
• Mechanical Design
• Conceptual Design
• Preliminary design
• Design for manufacturing (Base- Link1 – Link 2 – gripper)
• Manufacturing
• Component Purchase
• Manufacturing process
• Simulation
• Hardware control
• Robot Vision

4. Conceptual design

5. Preliminary design

6. Component purchaseing

7. Design for manufacturing

8. Give it some thought

9. Design for manufacturing

10. Design for manufacturing
• Base
• Base Motor
• Base Feedback
• Link 1 Motor
• Link 1 Tension mechanism and Feedback
• Link 1 Safety
• Link 2 Motor
• Link 2 Tension mechanism and Feedback
• Link 2 Safety
• Gripper
1
2
3
4

11. 1-Base sub-assembly
• Base
• Steel Flange
• Steel pipes
• Bearing
• Base Motor
• Motor weight: 400 gm
• Motor torque: 4.5 kg.cm
• Ration : 1:2.5
• Base Feedback
• Potentiometer

12. 2-Link 1 sub-assembly
• Link 1 Tension mechanism and Feedback
• Potentiometer and pulley
• Link 1 Motor
• Motor weight: 675 gm
• Motor torque: 10.4 kg.cm
• Ratio: 1:4
• Link 1 Safety
• Extra weight balance

13. 3-Link 2 sub-assembly
• Link 2 Tension mechanism and Feedback
• Potentiometer with pulley
• Link 2 Motor
• Motor weight: 1025
• Motor torque: 12 kg.cm
• Ratio: 1:5
• Link 2 Safety
• Solenoid

14. 4-Gripper
• Link 2 Interface
• Motors set

15. Manufacturing process
• Lathe
• Laser
• Bending

16. Final Shape

17. CAD Design VS Reality

18. Mechanical Summary
> Link https://youtu.be/F-TPUIYYAzc

19. Robotic vision

20. ROS goals
● Arm Pick & Place without any robotic vision
● Object detection
● Object recognition
● Object tracking
● Multiple object tracking
● Obstacle Avoidance

21. ● Code Algorithm
● - Single shot
● - SIFT
● - features based
ROS – Vision

22. Training
● CAD model
● SIFT feature extraction & manual tracking
● Adjusting tracker confidence & relevance of the object

23. Tracking
● Detection message
● Subscriber node

25. Rtap map obstacle avoidance
● Kinect
● 3d map

28. Final Testing
Link https://youtu.be/WUDkOi_OQT8

29. Thank You
Questions ?