Table of contents 1. Introduction of robotic arm 2. Components of robotic arm 3. Working of robotic arm 4. Applications Of Robotic Arms 5. Degree of freedom in robotic arm 6. Pick and place robotic arm 7. Block deagram 8. Stability analysis using routh Hurwitz 9. Root locus 10. Bode plot 11. Nyquist criteria 12. Transfer function to state space model & block diagram 13. Controllability 14. observerability Introduction of Robotic Arm
A robotic arm is a type of mechanical arm, usually programmable, with similar
finctions to a human arm, the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion or translational (linear) displacement. It can perform a wide variety of functions and perform the tasks where human can't go. In space as well as in vacuum metallic parts specially those which are subjected to friction specially gears and Barings wear- out very fast. The robotic arm can handled the particles in the chemical laboratories and used it for security purpose. It can also helpful in the medical applications. Through programming arm can handled the whole automatic industrial process. Due to the lightweight of the structure and designed techniques the robotic am can use for underwater applications in the underwater submarine. The four most advantage of this design could be very high speed manipulation, snippy manipulation due to extremely high weight design and very low inertia.
An introduction to a robotic arm includes the following points:
Robotic arms are devices designed to perform activities swiftly, correctly, and effectively. They consist of a collection of joints, articulations, and manipulators. Robotic arms are used for heavy and/or repetitive processes. They can be programmable and have similar functions to a human arm. The segments of a robotic arm are connected through joints or axes, with each joint having a motor. The general components of a robotic arm include:
1. Base : The base serves as the foundation of the robotic arm, providing stability and support. It houses the motors and mechanisms necessary for rotational movement along the horizontal axis.
2. Joint : Joints are articulation points along the robotic arm where movement occurs. Depending on the design, robotic arms may feature various types of joints, such as revolute (rotational), prismatic (linear), or spherical (multi-axis), allowing for a wide range of motion.
There are typically three types of joints:
Shoulder Joint: This joint connects the arm to the base and allows movement in a circular motion. Elbow Joint: Positioned between the upper and lower arm segments, the elbow joint enables bending and straightening. Wrist Joint: The wrist joint provides additional flexibility, allowing the end effector (such as a gripper) to tilt, twist, and rotate.
3. Links : Links are the segments or sections that connect the robotic arm’s joints. These links are typically rigid structures made of metal or composite materials, providing structural integrity and transferring forces and motion between joints.
4. Actuators : Actuators are the components responsible for generating motion in the robotic arm. Depending on the application requirements, they can be electric, pneumatic, hydraulic, or even piezoelectric.
Actuators convert energy into mechanical motion, enabling the robotic arm to . . . . move its joints and perform tasks.
5. End Effector : The end effector is the tool or attachment mounted at the robotic arm’s end that interacts with the environment to perform specific tasks.
End effectors vary widely depending on the application. They include grippers, . .. …. … suction cups, wielding torches, cutting tools, or specialized sensors.
6. Sensors : Sensors are crucial components that provide feedback to the robotic arm’s control system, enabling it to perceive and adapt to its surroundings.
Typical sensors used in robotic arms include proximity sensors, encoders, force . sensors, vision systems, and tactile sensors. These sensors help the robotic arm to … detect objects, measure distances, assess forces, and ensure precise control during manipulation tasks.
7. Control System : The control system is the brain of the robotic arm, responsible for coordinating the movements of the actuators based on input commands and sensory feedback.
It includes hardware components such as microcontrollers, processors, motor drivers,
and software algorithms for motion planning, trajectory generation, and feedback control.
The control system ensures the robotic arm operates safely, accurately, and efficiently while performing its intended tasks. HOW DOES ROBOTIC ARM WORKS ?
We have provided a detailed breakdown of the steps involved in the functioning of a
robotic arm, from how it receives commands to how it processes sensory data and executes movements with finesse and accuracy.
1. Input Commands
The operation of a robotic arm begins with receiving input commands from an external source, such as a computer or a human operator. These commands can be programmed instructions, manual inputs, or sensor signals detecting environmental changes.
2. Sensor Data Acquisition
Suppose the robotic arm is equipped with sensors, such as proximity sensors, vision systems, or force sensors. In that case, it gathers data about its surroundings. This data provides crucial information for the robotic arm to perceive objects, measure distances, assess forces, and ensure safe and accurate operation.
3. Control System Processing
The robotic arm’s control system processes the input commands and sensor data. The control system typically comprises hardware components such as microcontrollers, processors, motor drivers, and software algorithms for motion planning, trajectory generation, and feedback control.
4. Motion Planning
Based on the input commands and sensor data, the control system generates a motion plan that specifies the desired trajectory for the robotic arm to follow. This involves determining the sequence of movements required to reach the target position while avoiding obstacles and constraints in the workspace.
5. Actuator Control
The control system sends signals to the actuators of the robotic arm, instructing them to move the joints according to the planned trajectory. Actuators can be electric motors, pneumatic cylinders, hydraulic pistons, or other devices capable of converting energy into mechanical motion.
6. Movement Execution The actuators drive the movement of the robotic arm’s joints, causing it to follow the planned trajectory. Each joint moves in coordination with the others to achieve the desired overall motion of the arm. The robotic arm may perform tasks such as reaching, grasping, lifting, rotating, or manipulating objects as input commands require.
7. Feedback Control
Throughout the movement execution process, the control system continuously receives sensor feedback to ensure that the robotic arm moves accurately and safely. Feedback control algorithms adjust the motion of the arm in real time based on deviations from the planned trajectory, changes in the environment, or unexpected disturbances.
8. Task Completion
Once the robotic arm has completed its assigned tasks, it may return to a designated resting position or await further instructions. The control system monitors the completion of tasks. It sends status updates or alerts to the external source, signaling that the operation is finished or requiring intervention if issues arise.
9. Safety Protocols
Safety protocols are in place to prevent accidents and protect the robotic arm and its surroundings. These protocols may include emergency stop mechanisms, collision detection systems, and compliance with safety standards and regulations. Applications Of Robotic Arms Robotic arms are versatile and precise tools with uses across many sectors. Here are some real-world examples of how robotic arms are employed.
1. Manufacturing Industry
Robotic arms are extensively used in manufacturing for assembly, welding, painting, and material handling tasks.
For instance, automotive manufacturers employ robotic arms to assemble car
components quickly and precisely. In contrast, electronics manufacturers use them for soldering and testing circuit boards.
2. Healthcare Sector In healthcare, robotic arms are employed in surgical procedures to enhance precision and reduce the invasiveness of surgeries. Da Vinci Surgical Systems, for example, uses robotic arms controlled by surgeons to perform minimally invasive surgeries with improved agility and accuracy, resulting in shorter patient recovery times.
3. Agricultural Sector Robotic arms are increasingly being integrated into agricultural processes to automate tasks such as harvesting, pruning, and sorting produce. Companies like Harvest CROO Robotics have developed robotic strawberry harvesters equipped with robotic arms capable of picking ripe strawberries at high speeds, addressing labor shortages and increasing efficiency in the agricultural sector.
4. Space Exploration Robotic arms play a crucial role in space exploration missions, assisting in tasks such as satellite deployment, maintenance of spacecraft, and collection of samples from celestial bodies. The Canadarm series of robotic arms, developed by the Canadian Space Agency, has been utilized on various space shuttles and the International Space Station (ISS) for maneuvering payloads and conducting experiments in space.
5. Food and Beverage Industry
Robotic arms are used in the food and beverage industry for packaging, sorting, and quality control tasks. For example, FANUC’s Food Grade Delta Robot is employed in food processing facilities for high-speed packaging of snacks, confectionery, and ready-to-eat meals with utmost hygiene and efficiency. WHAT IS DEGREES OF FREEDOM IN ROBOTIC ARM ?
Degrees of freedom (DoF) in a robotic arm refer to the number of independent
movements the arm can make. Each DoF corresponds to a joint or axis that allows the robot to move in a specific way. For example, a robotic arm with six degrees of freedom can:
• Rotate around the base (yaw)
• Move forward/backward (surge) • Move up/down (heave) • Tilt up/down (pitch) • Swivel left/right (roll) • Slide left/right (sway) PICK AND PLACE ROBOTIC ARM
Pick and place robots are commonly used in modern manufacturing environments. Pick and place automation speeds up the process of picking up parts or items and placing them in other locations. Automating this process helps to increase production rates. Pick and place robots handle repetitive tasks while freeing up human workers to focus on more complex work.
Pick and place robots enable companies to use automated solutions for lifting objects from one location and placing them at other locations.
Simple tasks such as lifting objects or moving them do not require a lot of thought processes. Therefore, using human workers on these tasks can be wasteful, as the workforce can be used for other tasks that require higher mental abilities.
These repetitive tasks are handled by pick and place robots. These robots are often equipped with sensors and vision systems to lift objects from moving conveyor belt. BLOCK DIGRAM OF PICK & PLACE ROBOTIC ARM
Transfer function of block digram
Open loop transfer function :
G(S)H(S) = K 1
S(S+1) (S+4)
Closed loop transfer function :
G(S) K 1=
= 3 2 1
1+G(S)H(S) S +5S +4S+K
1= Stability of system Using Routh – Hurwitz Criterion
Range with in 0 < K < 20
Steady-State Error Specifications
➢ Static Error Constants
kₚ = lim 𝐺 ሺ𝑠ሻ𝐻ሺ𝑠ሻ = 0 𝑠−0
𝒌 kv = lim 𝑠𝐺 ሺ𝑠ሻ𝐻 ሺ𝑠ሻ = 𝑠−0 𝟒
ka = lim 𝑠2𝐺 ሺ𝑠ሻ𝐻 ሺ𝑠ሻ = 0
𝑠−0
➢ The system is of type 1, since the type 1 system have kv’s that are non – zero constants. ➢ A Ramp input is the test signal. Since kv is specified as a finite constant. Value of gain k for 13% error in the steady state.
1 e = ss 𝐾𝑣
K=8
The value of gain k is within the range of gains that ensures system stability. Find the Root locus using matlab
Matlab code: g=tf([8],[1 5 4 8]) rlocus(g)
8 --------------------- s^3 + 5 s^2 + 4 s + 8 Bode plot using matlab Matlab code: g=tf([8],[1 5 4 8]) bode(g) margin(g) Nyquist plot using matlab Matlab code: g=tf([8],[1 5 4 8]) nyquist(g) TRANSFER FUNCTION TO STATE SPACE MODEL AND ITS BLOCK DIAGRAM:
