• Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet
IvLabs
  • Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet

SWAYAT tORSO

Overview

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.
Picture

​Mechanical Design

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.

​Grasping Abilities

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.

​Writing Abilities

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.
Picture

Features

Accurate

The use of Dynamixel AX-12A smart servo motors enables accurate and repeatable kinematics and positioning of the arm.

Low Cost

​Lower in cost compared to the versatility in the number of tasks that can be performed by the arm.

Versatile

Can grasp a variety of differently shaped objects ranging from spherical to cylindrical and planar using a single actuator.

Tech Specs

Torque

Dynamixel AX-12A motors providing 12kg-cm torque for all actions.

Speed

Variable speed of motors, adjustable as needed fro 1-180 RPM.

Reach

Can reach a range of up to 20 cm from the shoulder link.

Media

Powered by Create your own unique website with customizable templates.
  • Our Lab
    • About
    • Research Themes
    • Gallery
    • Exhibitions
    • Workshops >
      • Workshop Info
      • FAQ
    • Intern Diaries
  • Projects
    • Flagship Projects
    • Summer Projects
  • Publications
  • Our Team
    • Professor Incharge
    • Alumni >
      • Batch 2014
      • Batch 2016
      • Batch 2017
      • Batch 2018
      • Batch 2019
      • Batch 2020
      • Batch 2021
      • Batch 2022
    • Core Coordinators
    • Junior Year Coordinators
  • Contact
  • Spin-offs
    • Makxenia
    • AidBots
  • Intranet