6 DOF Robotic Arm - Mechatronics Course Project
- 1. Mechanical Ahmed El-Moslemany Ahmed Hashem Ahmed Nashaat Amr Mousa Mahmoud Ayman Mahmoud El-Deep Electrical Ahmed El-ghannam Ahmed Radwan Esraa Hosny Gehad Essam Mohamed Ahmed Mohamed El-Mallah Mohamed Hussien Randa Selim Team members Supervised by Dr. Mahmoud El-Samanty
- 2. Team-members > Design and manufacturing Video https://youtu.be/F-TPUIYYAzc > Testing and performance Video https://youtu.be/WUDkOi_OQT8
- 3. Agenda • Mechanical Design • Conceptual Design • Preliminary design • Design for manufacturing (Base- Link1 – Link 2 – gripper) • Manufacturing • Component Purchase • Manufacturing process • Simulation • Hardware control • Robot Vision
- 8. Give it some thought
- 10. Design for manufacturing • Base • Base Motor • Base Feedback • Link 1 Motor • Link 1 Tension mechanism and Feedback • Link 1 Safety • Link 2 Motor • Link 2 Tension mechanism and Feedback • Link 2 Safety • Gripper 1 2 3 4
- 11. 1-Base sub-assembly • Base • Steel Flange • Steel pipes • Bearing • Base Motor • Motor weight: 400 gm • Motor torque: 4.5 kg.cm • Ration : 1:2.5 • Base Feedback • Potentiometer
- 12. 2-Link 1 sub-assembly • Link 1 Tension mechanism and Feedback • Potentiometer and pulley • Link 1 Motor • Motor weight: 675 gm • Motor torque: 10.4 kg.cm • Ratio: 1:4 • Link 1 Safety • Extra weight balance
- 13. 3-Link 2 sub-assembly • Link 2 Tension mechanism and Feedback • Potentiometer with pulley • Link 2 Motor • Motor weight: 1025 • Motor torque: 12 kg.cm • Ratio: 1:5 • Link 2 Safety • Solenoid
- 14. 4-Gripper • Link 2 Interface • Motors set
- 15. Manufacturing process • Lathe • Laser • Bending
- 16. Final Shape
- 17. CAD Design VS Reality
- 18. Mechanical Summary > Link https://youtu.be/F-TPUIYYAzc
- 19. Robotic vision
- 20. ROS goals ● Arm Pick & Place without any robotic vision ● Object detection ● Object recognition ● Object tracking ● Multiple object tracking ● Obstacle Avoidance
- 21. ● Code Algorithm ● - Single shot ● - SIFT ● - features based ROS – Vision
- 22. Training ● CAD model ● SIFT feature extraction & manual tracking ● Adjusting tracker confidence & relevance of the object
- 23. Tracking ● Detection message ● Subscriber node
- 25. Rtap map obstacle avoidance ● Kinect ● 3d map