2016
Rudrapalsinh Solanki
Week-17
Applications and Implications
Assignment
1. Propose a final Project :
What will it do ?
The Super Arm will be able to move in all the 6 axis with a rotating base. The arm will be controlled with the remote control that will have the switches for moving the arm. The arm for now will be a pick and place arm. The extension of the arm can be any thing according to the function required.
Who's done what beforehand ?
Robotic Arm's are the most fascinated products that people are interested in. There are many people who had already developed the arm. But what I noticed was that there was no other arm which work as a module based design. There are others who had developed arm like this but for them they had made it for commercial purposes. I referred to many arms before starting my work. Here are few arms that I referred to:
More reference images LINK
What materials and components will be required ?
Where will they come from?
For making the arm there are list of materials and components required:
MDF 25mm thick of 300*300mm size
MDF sheet of 2.6 mm thick 1.5*2 mts
PLA 3D filament of various colours 40/60 mts
Servo motors with metal gears (2 Motor)- (41 x 20 x 36mm)with 16kg/cm torque at 6V
Servo motors with metal gears (3 Motors)- (41 x 20 x 36mm)with 16kg/cm torque at 6V
Servo motors with plastic gears (1 Motors)- (41 x 20 x 36mm)with 10kg/cm torque at 6V
Arduino Uno board
3 blank circuit board ( 50mm*120mm)
Circuit connecting jumper wires 30m
Bread board
DPDT switches
Jumper wires male to female/male to male 50 nos.
Soldering station / flux/ soldering wire
GY-61 ADXL335 Triple Axis Accelerometer
6 pin connectors (50 nos)
Spray can 3 different colors 1nos
All the components are available in the market in my city.
Motors were a bit difficult to get it as the high torque servo motors are expensive so the shopkeeper gets it only on the order basis.
Other raw materials like MDF, switches and wires are very easy to buy fro the store.
How much will it cost?
What processes will be used?
Super arm is a robotic arm that works mechanically. Super arm works/moves like a human arm. The super arm will be able to move in all 6 axis and also moves in X/Y plane on the surface. The arm will be fixed on the deployable table base.
Tools/techniques to be used for making super arm:
1. 3D Printing
2. Milling (CNC)
3. Casting
4. Electronics
5. Sensors
What parts and systems will be made?
All the components will be made myself.
Initially base will be developed with the laser cutting, milling and 3D printing.
Other components for holding the motor and other members will be 3D printed.
What tasks need to be completed?
Till the point I have yet decided that I am making a module based arm I have my 3D file ready.
Soon the most important task is to first make all the components( 3D print all the components) and then start with the coding.
What questions need to be answered?
The most important task is the coding and functioning of the arm. I have not worked on it till now. I wanted to see If I can make a remote control and can access the arm and can move it in all 6 axis manually.
Another task was to make a shield for Arduino uno board. As the DPDT switches that I will be using has 2 pins minimum for control and I needed a total number of 12 minimum pin slots empty for the basic connection. So I have to work on the design of the shield.
What is the schedule?
The most important task is the coding and functioning of the arm. I have not worked on it till now. I wanted to see If I can make a remote control and can access the arm and can move it in all 6 axis manually.
Another task was to make a shield for Arduino uno board. As the DPDT switches that I will be using has 2 pins minimum for control and I needed a total number of 12 minimum pin slots empty for the basic connection. So I have to work on the design of the shield.
How will it be evaluated?
It can be evaluated through its function. The arm can be modified so the most important part of the super arm is its design that, it can be modulated and can be changed. The length of the arm can be modified according to need.
The head of the arm can be modified and it can also be modified for its function. Gripper is one of the option that I have made for now but it can be a spindle for the milling or routing work.
