mae 435 chris cook jeffry walker joshua beverly miguel de rojas
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5-DOF ANTHROPOMORPHIC
MANIPULATOR
MAE 435
Chris Cook
Jeffry Walker
Joshua Beverly
Miguel de Rojas
Types of Manipulators
Cartesian Gantry Cylindrical Spherical SCARA Anthropomorphic – Make of 59% in use
worldwide as of 2005 IFR report
Types of Manipulators
Welding Manipulator
Surgical Manipulator
5 Degrees of Freedom
Gripper End-Effector
Project Goals
5cm x 5cm x 5cm cube Placed within 6 in radial position Repeated TBD number of times
Servo Motor vs. DC Motor
Preliminary CalculationsJointMass=.939; %mass of joint (kg)ShaftMass=.113; %mass of shaft (kg)ShaftLength=.2032; %length of shaft (m)MotorOutput=.4862; %N-m output torque peak effectiveGearRation=132; %ratio of planetary gearboxLoadLifted=.34; %minimum mass to be picked up (kg)g=9.81; %gravity %effective forcesjf=JointMass*g;sf=ShaftMass*g;lf=LoadLifted*g;L=ShaftLength; %Joint TorquesJ1torque=lf*3*L+jf*L*(3+2+1)+sf*L*(2.5+1.5+.5);J2torque=lf*2*L+jf*L*(2+1)+sf*L*(1.5+.5);J3torque=lf*L+jf*L+sf*L*.5;
Torque (N-m)
Joint 1 14.277
Joint 2 7.2414
Joint 3 2.6622
Selected Motor
Cost Considerations
Midterm Status Update
Machining and assembly complete unless modifications become necessary
Inventor solid model complete unless modifications become necessary
Wiring is complete pending testing Computer code for the microcontroller is
in development Dynamics/Kinematics in development
Machining
Assembly
Assembly Complete
Solid Model
Forward Kinematics
Denavit-Hartenberg Parameters• 3 fixed-link parameters αi and ai: describe the Link i • di and θi : describe the Link’s connection
Forward Kinematicsi αi-1 ai-1 di θi
1 0 0 d1 θ1
2 90 0 d2 θ2
3 0 a2 d3 θ3 + 90
4 90 a3 d4 θ4
5 -90 a4 d5 θ5𝑇𝑖
𝑖−1 =
cos𝜃𝑖 −sin 𝜃𝑖 0 𝑎𝑖− 1
sin𝜃 𝑖cos𝛼𝑖 −1 cos𝜃 𝑖cos𝛼𝑖 −1 −sin 𝛼𝑖−1 −sin𝛼 𝑖−1𝑑𝑖
sin𝜃 𝑖 sin𝛼𝑖− 1 cos𝜃 𝑖 sin𝛼𝑖− 1 cos𝛼𝑖−1 cos𝛼 𝑖−1𝑑𝑖
0 0 0 1𝑇10 =
cos𝜃1 −sin 𝜃1 0 0sin𝜃1 cos𝜃1 0 00 0 1 𝑑10 0 0 1
𝑇21 =
cos𝜃2 −sin 𝜃2 0 𝑎10 0 −1 −𝑑2
sin𝜃2 cos𝜃2 0 00 0 0 1
𝑇32 =¿
𝑇43 =
cos𝜃4 − sin𝜃4 0 𝑎30 0 −1 −𝑑4
sin 𝜃4 cos𝜃4 0 00 0 0 1
𝑇54 =
cos𝜃5 −sin 𝜃5 0 𝑎40 0 1 𝑑5
−sin 𝜃5 −cos𝜃5 0 00 0 0 1
𝑇50 = 𝑇1
0 𝑇21 𝑇3
2 𝑇43 𝑇5
4
Inverse Kinematics
Goal: determine all the joint variables for a specific end-effector position and orientation
Feed this information to the controls
Inverse Kinematics
Determine the inverse kinematics starting from this equation
Wiring/Soldering
Motor Drivers
Closed-Loop Feedback Control
PID Controller (Proportional Integral Derivative)
Control Signal Filter
Motor Driver
Motor and Gearbox
Gantt Chart
5-DOF Manipulator
5-DOF Manipulator in Action 2:08
References 1. Siciliano, B., et al., Robotics
Modeling, Planning and Control. Advanced Textbooks in Control and Signal Processing2009: Springer.
2. Lee, C.S.G., Robot Arm Kinematics, Dynamics, and Control. Computer, 1982. 15(12): p. 62-80.
3. MathWorks MATLAB 4. Autodesk Inventor 5. Microsoft Office Suite
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