1. MAE 435 Chris Cook Jeffry Walker Joshua Beverly Miguel de Rojas

2. Types of Manipulators  Cartesian  Gantry  Cylindrical  Spherical  SCARA  Anthropomorphic – Make of 59% in use worldwide as of 2005 IFR report

3. Types of Manipulators

4. Welding Manipulator

5. Surgical Manipulator

6. 5 Degrees of Freedom

7. Gripper End-Effector

8. Project Goals  5cm x 5cm x 5cm cube  Placed within 6 in radial position  Repeated TBD number of times

9. Servo Motor vs. DC Motor

10. Preliminary Calculations JointMass=.939; %mass of joint (kg) ShaftMass=.113; %mass of shaft (kg) ShaftLength=.2032; %length of shaft (m) MotorOutput=.4862; %N-m output torque peak effective GearRation=132; %ratio of planetary gearbox LoadLifted=.34; %minimum mass to be picked up (kg) g=9.81; %gravity %effective forces jf=JointMass*g; sf=ShaftMass*g; lf=LoadLifted*g; L=ShaftLength; %Joint Torques J1torque=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 114.277 Joint 27.2414 Joint 32.6622

11. Selected Motor

12. Cost Considerations

13. 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

14. Machining

15. Assembly

16. Assembly Complete

17. Solid Model

18. Forward Kinematics Denavit-Hartenberg Parameters 3 fixed-link parameters α i and a i : describe the Link i d i and θ i : describe the Link’s connection

19. Forward Kinematics iα i-1 a i-1 didi θiθi 100d1d1 θ1θ1 2900d2d2 θ2θ2 30a2a2 d3d3 θ 3 + 90 4 90a3a3 d4d4 θ4θ4 5 -90a4a4 d5d5 θ5θ5

20. Inverse Kinematics  Goal: determine all the joint variables for a specific end-effector position and orientation  Feed this information to the controls

21. Inverse Kinematics  Determine the inverse kinematics starting from this equation

22. Wiring/Soldering

23. Motor Drivers

24. Closed-Loop Feedback Control  PID Controller  (Proportional Integral Derivative)

25. Control Signal Filter

26. Motor Driver

27. Motor and Gearbox

28. Gantt Chart

29. 5-DOF Manipulator  5-DOF Manipulator in Action 5-DOF Manipulator in Action  2:08

30. 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