Essays /

1354524605 9 Essay

Essay preview

International Journal of Computer Science Engineering
and Information Technology Research (IJCSEITR)
ISSN 2249-6831
Vol.2, Issue 4, Dec 2012 93-103
© TJPRC Pvt. Ltd.,

SIMULATION BASED DESIGN OF ROBOTIC ARM AND OMNI DIRECTIONAL DRIVE MECHANISM OF DEXTO:EKA
1

1

4

SULABH KUMRA, 2SHILPA MEHTA,3RAJAT SAXENA&4RAMANDEEP SINGH

IEEE member, Department of Electronics and Instrumentation Engineering, ITM University, Gurgaon

2

B.Tech student, Department of Electronics and Communication Engineering, ITM University, Gurgaon

3

B.Tech student, Department of Electronics and Instrumentation Engineering, ITM University, Gurgaon

Assistant Professor, Department of Electrical Electronics and Communication Engineering, ITM University, Gurgaon

ABSTRACT
The presented paper is concerned with simulation based designing of a low-cost, easy to use, intuitive interface for the control of a slave anthropomorphic tele-operated robot. Tele-operator “masters”, that operate in real-time with the robot, have ranged from simple motion capture devices, to more complex force reflective exoskeletal masters. Our general design approach has been to begin with the definition of desired objective behaviours, rather than the use of available components with their predefined technical specifications. With the technical specifications of the components necessary to achieve the desired behaviours defined, the components are either acquired, or in most cases, developed and built. The control system, which includes the operation of feedback approaches, acting in collaboration with physical machinery, is then defined and implemented.

KEYWORDS: Humanoid, Tele-Operated, Exoskeleton, Robotic Arm, Omni Wheel INTRODUCTION
In this paper we present “DEXTO:EKA: - the humanoid robot”, which is a human-scale tele-operated selfbalancing anthropomorphic robot. "Anthropomorphic" means having a shape like a human and "Tele-operated" means operated from a remote location. The humanoid is able to perform simultaneous mimicking motion of a person. The overall system is aimed at being able to yield complex meaningful interaction in a seamless and continuous manner. This humanoid will have torso with a head, two arms, face, eyes, mouth, ears and lots of sensors. Its upper body will resemble human while its lower body will be wheeled. Fig. 1 shows the block diagram of humanoid control system, in which the servos, sensors and all the peripherals are interfaced with the microcontroller unit. Audio and video are sent via Wi-Fi and all other data is sent to the other end via Xbee.

94

Sulabh Kumra, Shilpa Mehta, Rajat Saxena&Ramandeep Singh

Fig. 1: Block Diagram of Humanoid Control System
Fig. 2 shows the block diagram of Man Machine Interface (MMI), which is used by the tele-operator to remotely control the robot. It consists of an Exoskeleton, joystick, display unit and an auditory system.The mode selection switch enables the tele-operator to select one of the three modes of operation. The three modes of operation are manual, semiautonomous and autonomous

Fig. 2: Block Diagram of the Man Machine Interface
In manual mode, full control will be in the hands of the tele-operator and robot won’t be able to perform any action on its own. In semi-autonomous mode, the control will be still in the hands of the tele-operator but the robot will reject the commands if they are dangerous for survival of the robot. In autonomous mode, the robot will be autonomous and will do live entertainment.

Simulation Based Design of Robotic Arm and Omni Directional Drive Mechanism of Dexto:Eka:

95

STRUCTURE
After conducting various tests on the mecanum drive developed, it was concluded that the weight of the complete robot can’t be more than 20kg. Several computer based sketches were made to get...

Read more

Keywords

-103 -104 -160 -2 -5 -6831 /1349822.1349836 /1957656.1957710 09 1 10 10.1145 100 101 102 103 11 110 12 125 12th 13 13.1 1354524605 14 140 14th 15 159 16 17 18 180 1831 1835 19 1989 1996 1997 2 20 2002 2003 2004 2005 2006 2008 2009 2011 2012 20kg 21 22 2249 2884 2889 2nd 2shilpa 3 3.2 30 32.6 3d 3rajat 3rd 4 42 45 47.7 4ramandeep 5 52 52.3 533 556 6 6th 7 8 8.4 9 93 94 95 96 97 98 99 abduct abil abl abstract accord accur accuraci achiev acknowledg acm/ieee acoust acquir act action activ actual actuat adapt adc addison addison-wesley advanc advantag agraw ahuja aim air allow alloy also aluminium alway american amount amplifi analog angl angle angular antagonist anthropomorph appear appli applic approach appropri area aris arm around arrang assist attach audio auditori autom autonom avail axi b b.tech back backbon baek baek-kyu balanc ball base batteri be becom begin behaviour benefit bent berlin best better bilater bipe block board bodi bracket braunl brett built c calibr camera capabl captur carri case categori caus center central certain chang chassi cho chung circuit circular clear close cm collabor combin command common communic compact.aluminium compani compar complet complex compon compress comput concern conclud conclus conduct conf confer consist construct contact contd continu control controllers/drivers convent convert cooney cope corner correspond cost cover craig creat d danger data deal dec dedic defin definit degre demodul depart depend describ design desir detect develop devic dexter dexto diagram dickerson difficulti digit direct direction.it disabl display distanc dof doi done dot dr drive driven dvitiya dyamic dynam dynamically-balanc e ear eas easi easili ed edit effect effici either eka elbow electr electron embed emphasi enabl end engin enhanc enough ensur entertain entir environ environments.specifically equip equival error especi etc evalu exact exert exoskelet exoskeleton experi experiment extract eye f face factori fast fed feedback fi fig financi finger first fit flexibl follow forc force-sensit form forth forward forward/backward found four frame franch freedom freeli freier friend front fujiwara full futur g galvanis gari general generat georgia get gienger gill give given good great greater grip gripper ground grupen guidanc gurgaon gyroscop h hair hand hannigan hard hardwar hashimodotai head held help hidden high higher hirata hirukawa ho holli hollow holonom hong human human-robot human-scal humanoid hypothesi icar icra ideal ieee ieee/asme ijcseitr ill ill-woo ilon implement improv inclin includ increas individu inerti inform ink innov input insid institut instrument int intellig interact interfac interfer intern interpret introduc introduct intuit invers invert investig ir iron ishiguro isozumi issn issu itm j j.a jig joint journal joystick jr jun jun-ho june jung jung-yup jungho k kahn kaist kajita kanda kane kanehiro kaneko kang kantor kawasaki keep keyword kg kg-cm khr khr2 kilogram kim kosaka kuindersma kumra kyu l lab lapin larg later lauwer lee left/right leg less lift lightweight like linear link live load load-lift locat locomot loffler lot low low-cost lower ltd lynch m machin machineri made main maintain major make man man-machin maneuv manipul manner manoeuvr manual map market mason mass massey master materi may mean meaning measur measured.these mecanum mechan mechatron mehta member mere metal methodolog meti microcontrol midpoint mimic mimick min min-su mirror mmi mobil mode model modifi modul motion motor mount mous mouse-bal mouth move movement multi multi-sensor n na nagai nagatani navig necessari need net new no.1 nonlinear normal number object octob often oh okayama omni omni-direct omnidirect one onto ontolog open oper orient outsid overal p p.129 page pair paper parallel park partial pass path pathak pattern pendulum perform peripher peripheri perpendicular person pfeiffer phd physic pipe pivot place plan plane platform polytechn portion posit possibl potentiomet power pp pp.14 pp.22 practic predefin present prevent principl probabl proc proceed process produc prof professor project prong properti propos prototyp provid publish push put pvt quasiholonom r rajat ramandeep rang rate rather ratio read real real-tim receiv rectangular rectif refer reflect reichert reject relat remain remot replic represent requir research resembl resist respect respond result rig robot roller rotat rough ruckert ruiken s.no said salerno salih sampl saxena scale scienc seamless select self self-balanc selfbalanc semi semi-autonom semiautonom send sens sensat sensit sensor sensori sent servo setup sever severson shape sharp shen shilpa shimada shoulder show shown side sideway signal similar simpl simplifi simul simultan singh singlewheel situat six sketch slave slope small social sonar special specif speed spot spring springer springer-verlag stabl steel steer stephen still strain strap strength stronger structur student su suit sulabh sum support surfac surviv swaran switch symposium system system.the tabl tachibana takanishi tanaka task team technic technolog tele tele-oper teleoper terrain test thank thesi thoma three thus tight time tip tjprc to-digit tool top torqu torques-contd torso total tran transact transduc transform translat transmit transmitt tritiya turn two two-fing two-wheel ubot ultrason ultrasound uneven unit univers unstructur upper us use user valu variabl various vector vehicl veloc verlag versa version via viboonchaicheep vice video view vol vol.2 voltag w w.l walk want wave wearabl weigh weight wesley wheel wi wi-fi wide wire without won woo work worker workshop would wrist x xbee xu y yamaguchi yield yokoi yup