Overview
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In an attempt to explore Kinematics of Robotic arms and to improve the tasks performed by it, the upper torso of Swayat was designed. The major task that was accomplished was to make Swayat write letters and words using a pen attached to its arm.
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Mechanical Design
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The Swayat Torso was designed using reconfigurable 3D printed ABS plastic modules. These modules can be re-arranged according to requirements of torque and workspace required by the arm.
The use of Dynamixel AX-12A Smart servos allows high torque in a small space and therefore the arm can lift heavy payloads. |
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Grasping Abilities
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The Swayat torso uses a unique spring constrained gripper which provides a powerful grasp on objects held in it. The open structure of the gripper enables a variety of shapes of objects (deformable and rigid) to be held into the gripper with even force applied to the surface of the object.
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Writing Abilities
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By the use of accurate and repeatable actuators along with precise closed form kinematic solutions for the arm of the Swayat, it can write letters and words provided to it.
This is done by mounting a pen on the end effector of the arm and providing additional actuator for vertical motion of the end effector. |
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Features
Accurate |
The use of Dynamixel AX-12A smart servo motors enables accurate and repeatable kinematics and positioning of the arm.
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Low Cost |
Lower in cost compared to the versatility in the number of tasks that can be performed by the arm.
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Versatile |
Can grasp a variety of differently shaped objects ranging from spherical to cylindrical and planar using a single actuator.
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Tech Specs
Torque |
Dynamixel AX-12A motors providing 12kg-cm torque for all actions.
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Speed |
Variable speed of motors, adjustable as needed fro 1-180 RPM.
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Reach |
Can reach a range of up to 20 cm from the shoulder link.
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Media
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