The document introduces a robotic arm project built by students to be controlled through hand gesture recognition. The aim was to build an arm that can grip objects. Key features include using an accelerometer and flex sensors to capture hand gestures which are processed by a microcontroller to drive servo and DC motors that move the arm and gripper. Applications are discussed like industrial uses and medical procedures. Future improvements discussed are more degrees of freedom, intelligence, and mobility. In conclusion, robotic arms are complex but help with difficult, unsafe, or boring tasks.
A short PowerPoint presentation on robotic arm, its features and its development. Contains a video explanation, please download to watch it....Thanks for watching.
A short PowerPoint presentation on robotic arm, its features and its development. Contains a video explanation, please download to watch it....Thanks for watching.
Servo Based 5 Axis Robotic Arm Project ReportRobo India
Robo India presents a project report on servo motor based 5 axis robotic arm.
This project is operated through PC software that is made in Visual Basic. AVR family's Atmel Atmega 8 is used in controller board, it runs on Arduino IDE platform.
Detailed mechnical drawings of all of the parts are also given.
We welcome all of your views and queries.
Thanks & Regards
Team Robo India
www.roboindia.com
info@roboindia.com
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
Robotic Arm using flex sensor and servo motorjovin Richard
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. we have used FLEX SENSOR for the inuput and SERVO MOTOR as output for the movement. Motor Driver L293D is used to increase the power. atmega8 is used here.
This PPT gives information about:
1.Practical building simple wheeled mobile robots
2. Timeline
3. Classification
4. Robot Accessories
5. Robot Configuratin
6. Control Methods
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Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This Presentation is the Brief Introduction of the Adopted New Technology of Industry about the Robotics and also represent that What is actual Robot.
This is Basic Introduction about the Robotics.
This presentation is about Robotics Technology. In this presentation, you know about the history of robots, types of robots, advanced robotics technology, application of robots, advantage dis advantage of robots.
Servo Based 5 Axis Robotic Arm Project ReportRobo India
Robo India presents a project report on servo motor based 5 axis robotic arm.
This project is operated through PC software that is made in Visual Basic. AVR family's Atmel Atmega 8 is used in controller board, it runs on Arduino IDE platform.
Detailed mechnical drawings of all of the parts are also given.
We welcome all of your views and queries.
Thanks & Regards
Team Robo India
www.roboindia.com
info@roboindia.com
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
Robotic Arm using flex sensor and servo motorjovin Richard
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. we have used FLEX SENSOR for the inuput and SERVO MOTOR as output for the movement. Motor Driver L293D is used to increase the power. atmega8 is used here.
This PPT gives information about:
1.Practical building simple wheeled mobile robots
2. Timeline
3. Classification
4. Robot Accessories
5. Robot Configuratin
6. Control Methods
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
A six‐legged walking robot that is capable of basic mobility tasks such as walking forward, backward, rotating in place and raising or lowering the body height.The legs will be of a modular design and will have three degrees of freedom each.
Information about robotics, types of robotics, objectives, what is actuators, traditional vs robotics, technologies, interaction, social robots, applications of Robots, Advantages of robotics, disadvantages of robotics, difference between robotic system and other artificial intellegence technologies
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
This Presentation is the Brief Introduction of the Adopted New Technology of Industry about the Robotics and also represent that What is actual Robot.
This is Basic Introduction about the Robotics.
This presentation is about Robotics Technology. In this presentation, you know about the history of robots, types of robots, advanced robotics technology, application of robots, advantage dis advantage of robots.
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About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
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3. AIM OF THE PROJECT
• The main aim of our project is to build a
robotic arm that can grip or pick things
• We have implemented the robotic arm that
can be controlled by gesture commands. We
have proposed a simple algorithm for hand
gesture recognition.
5. ROBO ARM & DEGREE OF FREEDOM
• A robotic arm is a
robotic manipulator,
usually programmable,
with similar functions to
a human arm.
• It has about the same
number of degree of
freedom as in human
arm.
6. MAKING OF ROBOTICS ARM AT A GLANCE
The movement of the human arm is sensed by accelerometer
The accelerometer generates an analog voltage accordingly.
The movement of fingers is sensed by flex sensors which causes a
change in the resistance
An impedance follower is used to convert the resistance to
voltage.
The analog voltages are then digitized using an A/D converter .
It is then sent to the microcontroller.
Microcontroller differentiates all data of X-axis, Y-axis & Z-axis.
These data are used to generate PWM signal for corresponding
servo motors.
The data from flex sensor are used to drive a motor driver
This motor driver drives the DC motor of the gripper part
7. To build a gestures control robotics arm
We have technical details for every step of the way
Sensors
Module
Logical
Module
Execution
Module
9. HOW THE GESTURES CAN BE
CAPTURED?
Analog output
voltage
Accelerometer
& Flex Sensors
Movement of
human arm
10. ACCELEROMETER
• The movement of the human arm is
sensed by accelerometer.
• The accelerometer generates an
analog voltage accordingly.
• Analog voltage passes through a
lowpass filter
11. Mode of operation
The 3-axis accelerometer
attached
to the right arm is used
to recognize gestures
and postures.
The robot moves along the X,
Y and Z axes separately.
To move
the robot in the X direction,
the user should move the
accelerometer along the X axis,
keeping it in the horizontal.
12. Recognition of gestures
and postures
When the arm is moved in the
positive X direction (X+) initially
the value of acceleration x a
increases because the arm begins
to move and then, when the arm
begins to slow the positive value
of x a is converted to a negative
value. This point ( a 0 x = ) marks
the point of maximum speed. The
acceleration a y remains near to
zero and z a remains near to one
because the accelerometer is held
horizontally (acceleration due to
gravity).
13. For our project a ±1.5g, ±6g three-axis low g micro machined
accelerometer (MMA7361L) has been used
The MMA7361L is a low power, low profile capacitive
micro machined accelerometer featuring signal conditioning
, a 1-pole low pass filter, temperature compensation,
self-test, 0g-Detect which detects linear free fall,
and g-Select which allows for the selection between 2 sensitivities.
Zero-g offset and sensitivity are factory set
and require no external devices.
•The MMA7361L includes a Sleep Mode
that makes it ideal for handheld battery powered electronics.
14. GRIPPING MECHANISM
For gripping mechanism, flex sensors are used on two fingers i.e forefinger and
thumb.
Flex sensors are sensors that change in resistance depending on the amount of
bend on the sensors.
They convert the change in bend to electrical resistance-the more the bend, the
more the resistance value
15. Inside the flex sensor are carbon resistive elements within a thin
flexible substrate.
More carbon means less resistance.
When the substrate is bent the sensor produces a resistance
output relative to the bend radius-the smaller the radius, the higher
the resistance value
17. HUMAN TO MCU INTERFACE
• The analog
voltage is then
digitized using an
A/D converter .
• It is then sent to
the
microcontroller
where it
generates a
unique 8 bit digit
code for different
axis and different
voltages.
Analog
data enter
to ADC
MCU
8 bit
binary
data
18. Atmega8(L)-FEW FEATURES
The microcontroller used for the
project is Atmega8(L).
ADC7..6 (TQFP andQFN/MLF
Package Only)-In the TQFP and
QFN/MLF package, ADC7..6 serve as
analog inputs to the A/D
converter.These pins are powered
from the analog supply and serve as
10-bit ADC channels.
The ATmega8 on the board comes
pre-loaded with a bootloader
program, which can be used to burn
your project’s HEX files on the
microcontroller directly via the USB
connector without any separate
programmer.
19. HOW DOES THE CIRCUIT WORK ?
•The Port B of the microcontroller
is set for the output. Reference
voltage is at AVcc.
•The ADC converts an analog input
voltage to a 8-bit digital value
through successive approximation..
•The ADC is enabled by setting the
ADC Enable bit, ADEN in ADCSRA.
•The ADC generates a 10-bit result
which is presented in the ADC Data
Registers, ADCH and ADCL.
•A single conversion is started by
writing a logical one to the ADC
Start Conversion bit, ADSC. This bit
stays high as long as the conversion
is in progress and will be cleared by
hardware when the conversion is
completed.
21. Initializing PWM for driving motors: •The Timer/Counter (TCNT1),
Output Compare Registers
(OCR1A/B), and Input Capture
Register(ICR1) are all 16-bit
registers.
•The double buffered Output
Compare Registers (OCR1A/B)
are compared with the
Timer/Counter value at all time.
The result of the compare can
be used by the waveform
generator to generate a PWM or
variable frequency output on
the Output Compare Pin
(OC1A/B).
•The 16bit timer/counter1
(TCNT1) is set for fast PWM
mode. The time period is set at
20ms. The Timer/Counter can
be clocked internally, via the
prescalar. Prescalar value is set
at 64 division factor
•For output PB1 and PB2 are
selected
22. MCU TO MECHANICAL PART INTERFACE
• The 8 bit data is then
sent to be compared
with registers of Timer1.
• Content of OCR1A &
OCR1B are compared
with ICR1 and PWM
signals are generated.
25. MOTORS
• Motors are used for joint
rotation.
• The base consists of a servo
motor allowing
forward/backward
movement.
• The elbow consists of a
servo motor allowing
up/down movement of the
arm.
• The grip consists of a d.c.
motor allowing to grip a
object.
26. What makes a Servo
Servo motors are constructed out of basic DC
motors, by adding:
• some gear reduction
• a position sensor for the motor shaft
• an electronic circuit that controls the
motor's operation
27. Feed-back loop
It is a
closed servomechanism that
uses position feedback to
control its motion and final
position.
The input to its control is
some signal, either analogue
or digital, representing the
position commanded for the
output shaft.
The motor is paired with
some type of encoder to
provide position and speed
feedback.
28. How do servo
motors work ?
Servos are controlled by sending an
electrical pulse of variable width, or pulse
width modulation (PWM), through the
control wire.
There is a minimum pulse, a maximum
pulse, and a repetition rate.
Servo motors can usually only turn 90
degrees in either direction for a total of 180
degree movement.
The PWM sent to the motor determines
position of the shaft, and based on the
duration of the pulse sent via the control
wire; the rotor will turn to the desired
position.
The servo motor expects to see a pulse
every 20 milliseconds (ms) and the length of
the pulse will determine how far the motor
turns. For example, a 1.5ms pulse will make
the motor turn to the 90-degree position.
Shorter than 1.5ms moves it to 0 degrees,
and any longer than 1.5ms will turn the
servo to 180 degrees,
29. GRIP
Dc motor which is driven by a motor driver
(L293D) is used for the gripper part.
The L293D is designed to provide bidirectional
drive currents of up to 600-mA at voltages from 4.5
V to 36 V.
30. gg The bent in fingers
is indicated by the
change in resistance
which in turn drives
the dc motor
attached to the
gripper.
As the motor
rotates the gripper
closes in thus
grabbing the object
in between.
31. D.C.MOTOR
SERVO MOTOR
SERVO MOTOR
BASE
The arm is made with
balsa wood. The wood
pieces are carefully cut
according to the
measurements and then
they are put together to
form the structure of the
arm.
33. . The robotic arm can be designed to perform any desired task
such as welding, gripping, spinning etc.
. The space shuttle Remote Manipulator System have multi
degree of freedom robotic arms
. In various industrial or home applications
. In medical science: soft tissue manipulation, needle insertion,
suturing, and cauterization.
SOME APPLICATIONS
34. FUTURE SCOPE
MECHANICAL DESIGN-more
efficient,reliable,improved power
UNIVERSAL GRIPPER-capable
of doing multiple tasks
MOBILITY & NAVIGATION-
mobile,able to move under their
own power & navigation systems
SENSOR CAPABILITIES-3
accelerometers used for
shoulder,elbow & wrist movement
allowing circular & angular
movements
TELE PRESENCE-communicate
information about its environment
back to a remote “safe” location
INTELLIGENCE-Capable of
making decisions about the task it
performs.
35. CONCLUSION
Robots help people with tasks that would be
difficult, unsafe, or boring for a real person to do
alone. To conclude, robotic arm, is probably the
most mathematically complex robotic part one
could ever build.
36. ACKNOWLEDGEMENT
Our deepest thanks to our mentor, Mrs Antara
Mukherjee, for helping us out and guiding us
with her valuable suggestions and support.
Editor's Notes
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