The document describes the design and development of a model robotic arm with 3 joints and 4 degrees of freedom. It discusses the design requirements, structural design using CAD modeling, torque analysis of servomotors, material selection of aluminum alloy, and programming of the arm using Matlab Simulink and Stateflow for control. The arm is controlled with an Arduino Mega 2560 microcontroller.

1. Model Robotic Arm

2. Model Robotic Arm
Design process
Design requirements
Technical aspect
Conclusion
Programming
Control Hardwar
Matlab Simulink

3. Model Robotic Arm
• Sample to Industrial Robotic Arm
• Simple in Structural design and Programming
• 3 joint and 4 degrees of freedom with a grip hand

4. Designing the structure
• Torque analysis

5. Servomotor
Servomotor Torque , HS-785HB
* T=9.547 lb. in stall at 4.8 V
* T=11.438 lb .in stall at 6.0 V
T1=8.128 Ib.in <
Result Torque analysis

6. Proposed CAD Model
Height=25 in Height=17 in

7. Structure Analysis

8. Static Analysis

9. • Shear Force Diagram

10. • Bending Moment Diagram

13. 0
1
2
3
4
5
6
7
8
9
10
Machinability Density Thermal
Conductivity
Electrical
Conductivity
Aluminum Steel
Comparison Among Metals
• Mechanical Property

14. Comparison among aluminum alloys
Tensile Strength
(KSI)
Yield stength (kSI) Modulus of
elasticity (KSI)
37 36
10000
38 31
10200
45 40
1000
Aluminum Alloy 3005-H18
Aluminum Alloy 5052-H34
Aluminum Alloy 6061-T6

15. Hardware control
• Arduino Mega 2560
• Microcontroller ATmega2560
• Matlab
• Simulink
• Stateflow
Programming software

16. Simulink

17. Simulink Library

18. Simulink and Stateflow

19. Start
7=S
P1
<=400
P2
5=
P3
10=
P5
5=
P4
yes
No
Flow chart of working procedure

20. Simulink & Stateflow

21. Comparison Simulink

22. Circuit

23. Final Product
Joints
Gripper Hand
Arduino 2560
Potentiometer

24. Recommendation
Matlab –Simulink is very power full as programing tool
specially with Stateflow and easy to visualize as a figure,
by adding hardware and sensors.

26. Thanks