Loading...

Design and Control of a Robotic Arm and Hand with Simulation on Performance

Abdollahi Nia, Masoud | 2016

546 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48476 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohour, Hassan
  7. Abstract:
  8. The set of human arm, forearm, and wrist has the ability of performing very miscellaneous movements which has led to human inspiration for designing sorts of robots for various tasks. The aim of the present study is the design and simulation of a robot, similar to the human hand and arm. In the beginning, a shape-adaptive 2 DOF under-actuated mechanism which is actuated by one motor, is selected as the second and third phalanges of the human finger. Also the first phalanx of the finger moves independently by another motor. By adding a ratchet to the second joint of the finger, with the help of only two actuators, the feasibility of exerting isotropic force to the object in three phalanges will be provided. After clarification of the main structure of the mechanism, the design of a robotic hand with four fingers has been accomplished. Based on the performed static analysis, the resulting design has the ability of applying desired isotropic forces in range of 0.5 N to 2.2 N to the object, by each phalanx and at different angles of the joints. Such a feature has not been seen in the previous studies. In the next step, a 4 DOF robotic arm has been designed similar to the human Arm and Forearm which the robotic hand is connected to the end of it as an end-effector. The criterion of the design for the arm components and the selection of its actuators was the feasibility of moving a load with maximum mass of 1.5 kg at the desired speed. After the full design of the arm in order to control its motion, first the extraction of its dynamic equations has been done and then an innovative approach for path planning of the robot is presented. Finally, controlling methods such as PID, Sliding Mode and Adaptive Controllers has been utilized for controlling and simulation of robot motion in the Simulink software and their results are compared. The mentioned adaptive controller has the ability to estimate the mass of the unknown load with an appropriate precision in a short time, and hence the robotic hand can hold the object with higher accuracy and safety
  9. Keywords:
  10. Adaptive Mechanism ; Dynamic Equations ; Path Planning ; Sliding Mode Controller ; Adaptive Controller ; Parameter Estimation ; Ratchet

 Digital Object List

 Bookmark

No TOC