Design and Modelling of Manipulator (4DOF)

Design and Modelling of Manipulator (4DOF)

Author Name : S. Bhanu Murthy, A. Bharath Kumar, B. Sravan Kumar, CH Sai Srinivas4, P. Ajay

ABSTRACT

Robotic manipulators have many industrial applications ranging from pick and place, assembly, welding, sorting, packaging, labeling, etc. Robotics also finds applications in many fields such as medical, agriculture, military operations, in space, and dangerous places. The aim of the project is to design and modeling of 4 DOF manipulators for performing pick and place operations powered by an electrical drive system. The manipulator configuration is articulated type, i.e., all revolute joints. Parallelogram linkage configuration is implemented in the design to compensate for gravitational torque at the shoulder joint. The manipulator 3D model is generated using Fusion 360. Structural analysis is done on the links of the manipulator to analyze the load-bearing capacity of the manipulator. For kinematic modeling, direct kinematics and inverse kinematic solutions are developed. The forward and inverse kinematic models are implemented in MATLAB. The workspace, pick and place simulation is done. The manipulator is equipped with an electromagnet as an end effector to allow tasks of Ferrous metal handling.

Keywords: Robotic Manipulator, Degrees of Freedom (DOF), Revolute Joints, Arduino, End effector, Fusion 360, MATLAB.