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robotic arm

Where imagination is your only limit
Picture

OVERVIEW


​The robotic arm is a pioneer of modern robotics, and finds its applications in industries, laboratories, human-assisted operations, medical robotics and even in prosthesis. 
                    Kriti, the 3-DOF robotic arm, is a single-handed attempt to replicate the prodigy and a doorway to learn and culminate Mechanical Design, Image Processing and Syndicated programming. The robot can perform simple pick-and-place operations.

INSIGHT

THE VISION

The system employed the use of an overhead camera, which detects the current and target position of the object relative to the bot. 
       Colored markers were used for the detection of the positions of the bot, pick-up and land. The locations of these markers, multiplied by the camera matrix gave us the respective values in world coordinates upto a good approximaton 
Picture
Picture

THE BRAIN

MATLAB is a fast, versatile numerical computing environment. Our system uses MATLAB for processing the image, calculating the positions, followed by calculating the inverse kinematics for our arm. The motor angles were then published to the USB port in a serial manner.

THE CORTEX

The OpenCM9.04 is an open-source microcontroller board based on 32-bit ARM Cortex-M3. This device converts the motor angles calculated by MATLAB from USB to a 32-bit binary stream for the motors to understand.
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Picture

THE DESIGN

The robotic arm was design in SolidWorks software and the links were 3D printed in ABS material.
               The end-effector design was inspired by a lobster's claw, which gave us the versatility to grab objects of different sizes.
               Dynamixel AX-12 motors were used for the actuation.
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TECH SPECS

ACTUATORS

​
  • Motors                                 Dynamixel AX-12A 
  • Weight                                 55 gm
  • Stall Torque                      15.3 kg-cm
  • Angle of rotation          300 degree or continuous turn
  • Size                                        32 x 50 x 40 mm

LINKS

  •  Link 1                 12.8 cm
  •  Link 2                 13.5 cm
  •  Material            ABS
  •  Weight               390 grams 

MEDIA

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    • About
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      • Workshop Info
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      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
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  • Contact
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