Tetrix robot arm design pdf

Teams do not need to design or build the robot arm, but only the end effector of the robot arm and the concept on how to use the end effector. Design a vehicle that will roll easily and overcome. Implementing robot arm and hand in tetrix and autodesk inventor. Introduction to robotics and engineering marist school lab. With tetrix robotics, middle and high school stem and engineering students design, build, and program robots with a purpose, learning to problem solve, test ideas, and develop perseverance along the way. Place the red and blue balls on tire stands in different locations but both at the correct distance from the arm so that the claw will reach it, as shown below. Department of mechanical engineering, faculty of engineering taif university alhaweiah saudi arabia. This is the official tetrix parts for first competition courtesy of first and ptc. While working in a fashion similar to the human arm, robot arms can still have a much wider range of motion since their design can be purely up to the imagination of their creator.

This project uses digilent arty a735t fpga development board to control a twowheel robot. Design and development of a competitive lowcost robot. The ur robot arm can add efficiency to your gluing, dispensing and welding processes, e. The arduino braccio robotic arm is sold as a kit and requires assembly before use. The arm shown above passed all our tests and is the design that we have decided to implement into our robot. I mount a ring 4 arount the servo so there was no distance between the box and the arm.

Now try to use the robot arm to swap the positions of the two balls. Create a design that will allow for these resources to hang the rings on. This weight is needed to help the wheels grip the surface better. Mathematical modeling of kinematics plays an essential role in design and implementation of a robot arm control. The robots maximum dimensions at start of challenge. The business end of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand. To place the distance sensor i used a pice of 2mm lexan.

The design, analysis and implementation of a robot arm system, which is expressed towards its performance with an analytical model by using labview and embedded system tools was presented in this article. In our opinion the future is collaborative and we are here to bring it to you september 2016 the ur5 does in 4 hours what it would take manual labor 23 days to accomplish. This builders guide provides students with an introduction to robotics and engineering that is designed to instill confidence and creativity. Controller the controller is the backbone of a robot. Each year, teams engage in a new game where they design, build, test, and program.

Introduction to serial arm a robot manipulator consists of links connected by joints. Calculate the gear ratio that was used in this arm and gripper design. Design, simulation and fabrication of a 5dof robotic arm with implementation of inverse kinematics. The course integrates technology, math, science, and engineering stem topics. Robot arm and base can only be built with tetrix as the foundation structure and lego parts to support the main structure. Check the game rules for all the applicable stickers the game manual part 1 includes a robot. Design and development of a competitive lowcost robot arm with four degrees of freedom ashraf elfasakhany1,2, eduardo yanez2, karen baylon2, ricardo salgado2. Also an assembly guide pdf that shows how to put the parts together. This is facilitated by using tetrix components whenever possible.

This is to certify that the project report titled robotic arm control through human arm movement using accelerometers submitted by ashutosh. Looking to create a chain driving system for your robot. The first step in the mechanical design of the arm is to define its degrees of freedom. This project is part 1 in the building a robot arm tutorial. This bot will be able to reach out and grasp an object arm and gripper. Only the parts and tools included in the tetrix kit of parts will be needed to build the robot. Actobotics parts robot parts robot kits robot toys. At robotshop, you will find everything about robotics. Cad software is used to design an object on a computer. Students will study the physics involved in large scale robot design. Part four will show how to add control with an arduino. The tasks within this thesis work was to further develop a existing robot hand prototype despite its god characteristics and to develop a hand arm interface to the abb robot arm. The goal of this lab is to w ork with motorgear transmission assemblies and building actuators with servo motors.

Design process for autonomous and operator control. Robot arm challenge manual national robotics competition. As mentioned above, it is important that the final robot design be easy to reproduce and mirror. The joint that connects the segments of a robotic arm, for example, can rotate as well as moving like a hinge. Design and the mechanism of controlling a robotic arm. The design has a c library for use with the included microblaze soft processor to provide users with a working platform from which to develop robotics. Offers flexibility in build design and can be expanded using additional materials. Designing a robotic arm for moving and sorting scraps at pacific can, beijing, china a major qualifying project submitted to the faculty of worcester polytechnic institute in partial fulfillment of the requirements for the degree of bachelor of science by mohamad alblaihess william farrar. The xr4 robotic arm, developed by rhino robotics, is a semienclosed five axis design with all completely independent axes that can be controlled simultaneously. The tetrix prime robotics system offers a great entry into teaching and learning through robotics and its simple and intuitive design enables robotic creations to come to life quickly and easily, meaning your middle school students can focus more on problemsolving and applying stem knowledge new to tetrix prime. Tetrix prime parts to construct a robot of their own design. Oregon robotics tournament and outreach program november 8, 2008. Designing for ftc with tetrix hints and tips downingtown area.

The stand should be thin enough to allow the robot s arm to scoop the ball without interference. The system consists of aluminium elements for construction and powerful drive motors, controlled by an nxt brick. The links of the manipulator can be considered to form a kinematic chain. See the image below for an example of a suitable pedestal for the ball. The omni wheels can slide sideways with very little friction due to the rollers. The base is the basic part over the arm, it may be fix or active. The robot arm was designed with two degrees of freedom and accomplished accurately simple.

The system includes a pitsco tetrix prime robotics kit. Final tetrix robot arm and hand assembly by blackmore et al. Designing a robotic arm for moving and sorting scraps at. Since the arm has a few joints, we can imagine, our human arm. The ingenious design of the aluminum beverage can duration. The original simple design excluded any real life factors such as the method of fastening joints, application of movement, manufacturing process, stress analysis, appearance and many others. Powered by six permanentmagnet, directcurrent pmdc servo motors with integral gearboxes and incremental encoders, the arm executes real time closed loop operations. There are a few different ways to make a robot arm move the way you want it to move. For each robot, students build the physical assembly. In the second part i show how to design the base and in the third part i show how to design the mount section. Find and implement design changes to fix the robot. Tetrix is a component system originally designed for use in high school robotics competitions.

How to build your own robot arm you are a member of a team of three or four students, all working together to design and build a robot arm out of the following materials which are provided to you. The instructions will provide lists of parts and images in autodesk inventor. When robot arm was straightening the wire did not reach to the top motor. Mobile base with two controlled wheels and the arm, see use of gears. Omni wheels are on the front of the robot, which allows the robot to turn more easily. Designing a suitable robotic arm for loading and unloading. They can be manual or automatic surgical robots have endeffectors that are specifically.

Strange design of controlled wheel plus four wheels. Official tetrix parts 3d cad model library grabcad. We have made modifications to the robot arm in order for the gripper to be able to grip and pick up a 9 cm in height beaker. All of these files will work with ptc cad software ptc creo and autodesk inventor for sure can open both of. Diy own robot arm open source plans and cad files for armuno and mearm compatibles. Tetrix is a robotics building system that was created by pitsco. After assembly, you can adjust the alignment of all the motors by running the sketch called testbraccio90 in the braccio examples. While there are some pretty linear truths about which arm design is better over all, there are certainly exceptions to these preconceived notions which all likely are a result of adapting to the task at hand. This paper presents the development of a wireless mobile robot arm. The main project task was to develop a costeffective robotic three finger hand. All preformed components on the robot are from the tetrix, lego, and. Robot projects, schematic editor, line follower code webinar 2 arm and gripper extension servos, autonomous code webinar 3 samantha module, ftc programming connecting via samantha, fcs software webinar 4 teleop programming, autonomous programming remote control editor, autonomous example webinar 8. It is composed of a set of jonts seperated in space by tha arm links. Robotics provides an interactive and social learning experience like no other.