Meet Our Team
Supervisor: Dr. Eng. Wiktor Sieklicki
Angelo FernandesTeam Member |
Blair SalumuTeam Member |
Rakibul HasanTeam Member |
We attempted to create a robotic arm by using robo-analyzer software and testing various iterations. We adjusted different parameters on the robot analyzer and observed the resulting changes. Additionally, we assembled an Arduino Braccio in inventor and examined multiple Braccio arms to identify the most common issue with their arms. However, we encountered a problem with the zero position when starting the Braccio arm. To fix this, we recommend calibrating the arm to ensure it starts at the correct zero position. This calibration process involves setting the servo motors to specific angles, which can be found in the Braccio arm's documentation or user manual. It's important to review your code and ensure that you're sending the correct control signals to the arm, setting appropriate angles for each servo motor to achieve the desired start and zero positions, and double-checking for any syntax errors or logic mistakes that could affect the arm's movement.
When it comes to 3D printing, there are certain considerations that must be taken into account. One important aspect is ensuring that any cylindrical holes in the design have an extra dimension of 0.1mm to 0.3mm. This is because thermal shrinkage may occur during the printing process, causing the hole to decrease in size if it is designed to be 4mm in diameter. To ensure a successful 3D print, it is important to take these precautions and design the model accordingly.
If you want to successfully print a 3D model, it's important to avoid certain design pitfalls. Here are some common mistakes to steer clear of:
1. Thin or fragile structures: Avoid creating parts with thin walls or delicate features that may break during printing or regular use. Thin walls can be difficult to print accurately and may lack strength.
2. Overhangs without support: Steep overhangs without proper support structures can cause sagging or a lack of dimensional accuracy. To improve printability, consider designing your model with support structures or gradual angles.
3. Unsupported bridges: Long unsupported bridges can cause drooping or sagging during printing. Ensure your bridge is within your printer's printable limits or add support structures.
4. Insufficient clearances and tolerances: When designing parts that need to fit together or move, provide enough clearance or tolerance to account for your printer's limitations. Parts that are too tight or lack clearance may not fit or function properly.
5. Overhang angles beyond printer capabilities: Your printer's capabilities determine the maximum overhang angle it can handle. Avoid designing overhangs with angles that exceed your printer's recommended limits to prevent print failures or excessive support material.
6. Floating or unsupported features: Any part of your model without support may lead to poor print quality or failure. Ensure all elements of your design have a solid base or proper support.
When creating a design for 3D printing, there are several factors to consider. Firstly, be aware that certain geometries, such as those that are too complex or non-manifold, may not be printable. Avoid designs that include non-printable features or excessively intricate details that your printer cannot handle.
Secondly, the orientation of your model can greatly affect the quality of the print. Avoid designing models that require extensive support structures or have crucial features on the bottom layer. Consider orienting your model in a way that minimizes the need for supports and maximizes surface quality.
Thirdly, different 3D printing materials have unique characteristics and requirements. Ensure that your design takes into account the specific properties of the material you plan to use, such as shrinkage, warping, or printing temperatures.
Lastly, it's important to understand the capabilities and limitations of your 3D printer, including its build volume, resolution, and support materials. Design within these constraints to ensure successful prints.
To ensure a successful and high-quality 3D print, it's important to avoid common mistakes and take into consideration the limitations of your design and printer. It's recommended to test and refine your design before finalizing it for printing.
For our robotic hand project, we used a measuring tape to accurately measure a team member's hand. We then used Autodesk Inventor to create an assembly file and design the hand components, including finger segments, joints, and end effectors. Each finger was designed as a separate part within the assembly file, with appropriate constraints and relationships defined for assembly. We also made sure that each finger had a flat plane for ease of 3D printing.
If you want to successfully print a 3D model, it's important to avoid certain design pitfalls. Here are some common mistakes to steer clear of:
1. Thin or fragile structures: Avoid creating parts with thin walls or delicate features that may break during printing or regular use. Thin walls can be difficult to print accurately and may lack strength.
2. Overhangs without support: Steep overhangs without proper support structures can cause sagging or a lack of dimensional accuracy. To improve printability, consider designing your model with support structures or gradual angles.
3. Unsupported bridges: Long unsupported bridges can cause drooping or sagging during printing. Ensure your bridge is within your printer's printable limits or add support structures.
4. Insufficient clearances and tolerances: When designing parts that need to fit together or move, provide enough clearance or tolerance to account for your printer's limitations. Parts that are too tight or lack clearance may not fit or function properly.
5. Overhang angles beyond printer capabilities: Your printer's capabilities determine the maximum overhang angle it can handle. Avoid designing overhangs with angles that exceed your printer's recommended limits to prevent print failures or excessive support material.
6. Floating or unsupported features: Any part of your model without support may lead to poor print quality or failure. Ensure all elements of your design have a solid base or proper support.
When creating a design for 3D printing, there are several factors to consider. Firstly, be aware that certain geometries, such as those that are too complex or non-manifold, may not be printable. Avoid designs that include non-printable features or excessively intricate details that your printer cannot handle.
Secondly, the orientation of your model can greatly affect the quality of the print. Avoid designing models that require extensive support structures or have crucial features on the bottom layer. Consider orienting your model in a way that minimizes the need for supports and maximizes surface quality.
Thirdly, different 3D printing materials have unique characteristics and requirements. Ensure that your design takes into account the specific properties of the material you plan to use, such as shrinkage, warping, or printing temperatures.
Lastly, it's important to understand the capabilities and limitations of your 3D printer, including its build volume, resolution, and support materials. Design within these constraints to ensure successful prints.
To ensure a successful and high-quality 3D print, it's important to avoid common mistakes and take into consideration the limitations of your design and printer. It's recommended to test and refine your design before finalizing it for printing.
For our robotic hand project, we used a measuring tape to accurately measure a team member's hand. We then used Autodesk Inventor to create an assembly file and design the hand components, including finger segments, joints, and end effectors. Each finger was designed as a separate part within the assembly file, with appropriate constraints and relationships defined for assembly. We also made sure that each finger had a flat plane for ease of 3D printing.
FLANGE DESIGN:
This is a design concept for a flange that will serve as a connection interface between a robot and a palm, while also providing a dedicated space to accommodate a servo motor. The flange design aims to ensure a secure and efficient connection, facilitating the controlled movement of the palm.
The flange will be a crucial component in the robot-to-palm connection, acting as an intermediary between the robot arm and the palm mechanism. Its primary function is to provide a strong and stable connection while allowing for rotational and angular movements. Additionally, the flange incorporates a dedicated housing to accommodate a servo motor, which will enable precise control of the palm's movements.
Furthermore, a dedicated housing is integrated into the flange design specifically tailored to accommodate the servo motor. This housing ensures proper alignment and stability of the servo, minimizing any potential vibration or misalignment issues.
Design Considerations:
Several factors were considered during the design process to ensure the effectiveness and reliability of the flange. Firstly, material selection played a crucial role, and options such as aluminum or titanium were considered due to their robustness and lightweight properties. This choice ensures that the flange maintains structural integrity without adding unnecessary weight to the overall system.
Secondly, the flange design incorporates bolt-hole patterns that are compatible with both the robot arm and the palm mechanism. This enables a secure attachment while allowing for easy installation and removal when required.
Lastly, the flange provides mounting points within the dedicated housing to securely attach the servo motor. These mounting points are designed to align with standard servo mounting hole patterns, allowing for easy integration and replacement of the servo.
Manufacturing and Assembly:
The flange design will undergo a manufacturing process involving precision machining techniques. Computer-aided design (CAD) software will be utilized to develop detailed technical drawings for accurate manufacturing specifications. The manufacturing process will ensure tight tolerances, surface finish quality, and proper alignment of the servo housing.
During assembly, the robot arm and palm mechanism will be aligned with the bolt-hole patterns on the flange. Bolts or fasteners will be used to secure the connection, ensuring stability and rigidity. The servo motor will be mounted securely within the dedicated housing using the provided mounting points.
The design concept presented in this report outlines a flange that serves as a reliable and efficient connection interface between a robot and a palm mechanism. The dedicated servo housing integrated into the flange design allows for precise control over the palm's movements. By considering material selection, connection mechanisms, and servo mounting requirements, the flange design ensures a stable connection while facilitating easy installation and maintenance.
The implementation of this flange design will contribute to the successful integration of the robot arm and palm mechanism, enabling the robot to perform dexterous tasks with enhanced control and accuracy.
This is a design concept for a flange that will serve as a connection interface between a robot and a palm, while also providing a dedicated space to accommodate a servo motor. The flange design aims to ensure a secure and efficient connection, facilitating the controlled movement of the palm.
The flange will be a crucial component in the robot-to-palm connection, acting as an intermediary between the robot arm and the palm mechanism. Its primary function is to provide a strong and stable connection while allowing for rotational and angular movements. Additionally, the flange incorporates a dedicated housing to accommodate a servo motor, which will enable precise control of the palm's movements.
Furthermore, a dedicated housing is integrated into the flange design specifically tailored to accommodate the servo motor. This housing ensures proper alignment and stability of the servo, minimizing any potential vibration or misalignment issues.
Design Considerations:
Several factors were considered during the design process to ensure the effectiveness and reliability of the flange. Firstly, material selection played a crucial role, and options such as aluminum or titanium were considered due to their robustness and lightweight properties. This choice ensures that the flange maintains structural integrity without adding unnecessary weight to the overall system.
Secondly, the flange design incorporates bolt-hole patterns that are compatible with both the robot arm and the palm mechanism. This enables a secure attachment while allowing for easy installation and removal when required.
Lastly, the flange provides mounting points within the dedicated housing to securely attach the servo motor. These mounting points are designed to align with standard servo mounting hole patterns, allowing for easy integration and replacement of the servo.
Manufacturing and Assembly:
The flange design will undergo a manufacturing process involving precision machining techniques. Computer-aided design (CAD) software will be utilized to develop detailed technical drawings for accurate manufacturing specifications. The manufacturing process will ensure tight tolerances, surface finish quality, and proper alignment of the servo housing.
During assembly, the robot arm and palm mechanism will be aligned with the bolt-hole patterns on the flange. Bolts or fasteners will be used to secure the connection, ensuring stability and rigidity. The servo motor will be mounted securely within the dedicated housing using the provided mounting points.
The design concept presented in this report outlines a flange that serves as a reliable and efficient connection interface between a robot and a palm mechanism. The dedicated servo housing integrated into the flange design allows for precise control over the palm's movements. By considering material selection, connection mechanisms, and servo mounting requirements, the flange design ensures a stable connection while facilitating easy installation and maintenance.
The implementation of this flange design will contribute to the successful integration of the robot arm and palm mechanism, enabling the robot to perform dexterous tasks with enhanced control and accuracy.