11Smart Robotic Arm
Rangit Ray1, Koustav Das1, Akash Adhikary1, Akash Pandey1, Ananthakrishnan V.1 and O.V. Gnana Swathika2*
1School of Electrical Engineering, Vellore Institute of Technology, Chennai, India
2Centre for Smart Grid Technologies, School of Electrical Engineering, Vellore Institute of Technology, Chennai, India
Abstract
In response to the booming world of industrial automation, robotic arms have gained popularity in recent times. The primary focus of the project is to present a design and develop a robotic arm which could be used in industries for lifting and welding purposes. The designed robotic arm has four degrees of freedom which allows it to access objects in front of it in the polar co-ordinates. The developed robotic arm can be used to lift small-scale objects with its claws or may be fitted with a welding tip for welding purposes accordingly. A bot is also made to make the robotic arm movable. The four degrees of freedom has been achieved through the use of servo motors and Arduino, an open-sourced computer hardware and software that is being used to drive these motors. Additional sensors have been provided to detect the object in 3D space and also to detect human intervention for safety purposes.
Keywords: Robotic arm, degree of freedom, torque
Abbreviations and Nomenclature
| DOF | Degree of Freedom |
| W1 | weight of link 1 |
| W2 | weight of motor |
| W4 | weight of motor |
| W3 | weight of link 2 |
| W5 | weight of gripper |
| W6 | weight of load |
| L1 | span of link 1 |
| L2 | span of link 2 |
| L3 | span of link 3 |
| M |
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