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    Tendon-Gear Mechanism For Robot Arm (School Project)

    Uploaded by

    Grace Firsta Lukman
    The document summarizes a student project to design and build a robot arm that uses a tendon-gear mechanism for control. The project aimed to accurately control a lightweight robot arm using this tendon-based mechanism inspired by human muscles. Students drafted and 3D printed parts, integrated DC motors, and attempted to control joint positions using OpenCV computer vision processing and an Arduino microcontroller. While full computer vision control was not achieved, the robot arm could be accurately positioned manually using buttons. All students felt they gained valuable experience designing, building, and troubleshooting their robot arm prototype from start to finish.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Tendon-Gear Mechanism For Robot Arm (School Project)

    Uploaded by

    Grace Firsta Lukman
    50 views17 pages
    The document summarizes a student project to design and build a robot arm that uses a tendon-gear mechanism for control. The project aimed to accurately control a lightweight robot arm using this tendon-based mechanism inspired by human muscles. Students drafted and 3D printed parts, integrated DC motors, and attempted to control joint positions using OpenCV computer vision processing and an Arduino microcontroller. While full computer vision control was not achieved, the robot arm could be accurately positioned manually using buttons. All students felt they gained valuable experience designing, building, and troubleshooting their robot arm prototype from start to finish.

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    Tendon-Gear Mechanism for Robot Arm (School Project)

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    The document summarizes a student project to design and build a robot arm that uses a tendon-gear mechanism for control. The project aimed to accurately control a lightweight robot arm using this tendon-based mechanism inspired by human muscles. Students drafted and 3D printed parts, integrated DC motors, and attempted to control joint positions using OpenCV computer vision processing and an Arduino microcontroller. While full computer vision control was not achieved, the robot arm could be accurately positioned manually using buttons. All students felt they gained valuable experience designing, building, and troubleshooting their robot arm prototype from start to finish.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    50 views17 pages

    Tendon-Gear Mechanism For Robot Arm (School Project)

    Uploaded by

    Grace Firsta Lukman
    The document summarizes a student project to design and build a robot arm that uses a tendon-gear mechanism for control. The project aimed to accurately control a lightweight robot arm using this tendon-based mechanism inspired by human muscles. Students drafted and 3D printed parts, integrated DC motors, and attempted to control joint positions using OpenCV computer vision processing and an Arduino microcontroller. While full computer vision control was not achieved, the robot arm could be accurately positioned manually using buttons. All students felt they gained valuable experience designing, building, and troubleshooting their robot arm prototype from start to finish.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 17

    산업전자응용

    텐던-기어 메카니즘을 이용한 로봇팔 제어


    Final Presentation

    • 그레이스
    • 앤드류
    • 이건우
    INTRODUCTION
    ■ Purpose

    • Understanding of robot arm kinematics


    • Understanding of stepping, servo, and DC motors operation
    • Design and create robot arm using tendon-gear mechanism

    ■ Expected Results
    • Accurate and simple control
    • Lightweight structure
    • Robot arm development for public and industry
    • Mimicry of human tendon mechanism
    • Ability to work like human in dangerous environment
    MOTIVATION
    ■ Capture movement

    • Use real human movements to move the robot remotely.

    • Develop natural motion

    ■ Tendon mechanism

    • Focus weight to the center of the robot’s body

    • Reduce motor’s load


    STRUCTURE
    ■ Drafting
    STRUCTURE
    ■ 3D Modelling
    MAIN COMPONENTS

    ■ OPENCV
    • Open Source Computer Vision for real-time computer vision

    ■ Processor
    • ATMEGA48, Arduino
    ■ Motors
    • DC Motor

    • RC Motor

    • Stepping Motor
    MAIN COMPONENTS

    ■ OPENCV
    • Extract background

    • Find the center coordinates (moment) of the joint

    • Send signal to Arduino corresponding to the coordinates through Serial

    Port

    Joint2 - wrist Joint1 - elbow


    Joint1 - elbow
    MAIN COMPONENTS

    ■ Processor
    • Arduino receives the signal from Visual Studio (OPENCV)

    • Arduino sends digital signal (HIGH / LOW) to the ATMEGA48 port


    ATMEGA48, Arduino

    Manual using buttons


    ATMEGA48
    ■ Circuit
    ATMEGA48
    ■ Circuit
    Photos
    Photos
    Photos
    Video
    Video

    Shoulder Elbow Gripping


    COMMENTS

    ■ 그레이스 says :
    • The whole process was very fun. Starting from choosing our own idea
    until final product. Too bad we could not connect to ATMEGA, but at
    least it worked perfect manually. I liked working with my teammates,
    they were very friendly and helpful.

    ■ 앤드류 says :
    • It was a good experience. We, not only designed, but also created
    from 0 to a functionally working arm. It was not easy, we had to deal
    with a lot of super glue and many days of 3D printing, but it was
    definitely worth it.

    ■ 이건우 says :
    • The project was unforgettable. Our team spent days to assemble the
    arm and fixing every errors. Connecting every single thread (실) to the
    position we want was not easy, it was a struggle but I’m glad it worked
    well in the end. Thanks everyone!
    Thank you!

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