Abstract:
Every year many workers are injured, become ill or are killed because of exposure to harmful chemical substances. These incidents cause human suffering, loss of production and high medical cost. This robotic arm aims to give assistance and guidance to employers and workers to promote a safe and healthy work environment and prevent injuries. And also repetitive tasks and high accuracy have become the two contradictory needs of any industrial process. By introducing autonomous robotic applications, simple repetitive tasks can be accomplished keeping the demands of the accuracy and speed in mind. This report presents an approach mechanical system design concept and fabrication of three degrees of freedom jointed-arm robot with locally available materials, which should perform industrial task such as pick-and-placement of waste chemically hazardous material. The special feature of this robotic arm is that it can rotate on its base around 360° and a gripper system. This robotic arm has forward-backward motion and rotation on the base. These function and the movement of the arm is controlled by a lab view program via servo & DC motors, PC, motor drive IC, arduino and an Wi-Fi control module.
Mechanical gripper has been built as end effector and is capable of grasping diverse objects, even under external disturbances, within own workspace of the arm possible. Control of the robotic arm assembly has been achieved successfully using two DC motors and four servo motors. By controlling these six motors the robot can achieve a total of five degrees of freedom.
The arduino implements the position control on the motors. The project shows that the program allows the arduino to automatically adjust their commands to be appropriate for the arm dynamics and the task. The design aims to provide fine manipulation in performing industrial tasks, while still maintaining the simplicity of design, miniaturization, and lightness are also achieved.
Description:
All praise to Almighty ALLAH, the most merciful who bestowed us to the will, the ability, the
vigor and the perseverance unless which, it would have been impossible for us to complete the thesis.
The authors offer their deepest sense of gratitude, sincere appreciation and great indebtedness to their respected supervisor Wing Commander G.M. Jahangir Alam, Instructor Class-A of Department of Mechanical Engineering, MIST, Dhaka, for inventing a new idea which is benefiting the spirit of the age. Also for his valuable suggestions, proper guidance and supervision throughout the progress of work otherwise this thesis would have been impracticable.
The authors feel obliged to express their gratitude to Captain Anwarul Haque Chowdhury, (BN) Head of the Mechanical Engineering Department, MIST and Lieutenant Commander KMR Sadi, Instructor Class-B of the Mechanical Engineering Department, MIST, for their financial support and guidance.
The authors express their sincere thanks to all instructors of Mechanical Engineering Department of MIST, for their inspiration and encouragement to us.
