TERM PAPER OF KINEMATICS OF MACHINES

MEC 202

TOPIC - Draw the velocity and acceleration diagram of mechanism

present in Robot hand picking a glass of water.

SUBMITTED TO SUBMITTED BY

RAJENDRA KUMAR ANISH DEBNATH

ROLL- RM4901A24

REG NO.-10901112
 ACKNOWLEDGEMENT

I take this opportunity to present my votes of thanks to all those guidepost who really
acted as lightening pillars to enlighten our way throughout this project that has led to
successful and satisfactory completion of this study.

We are really grateful to our HOD for providing us with an opportunity to undertake
this project in this university and providing us with all the facilities. We are highly
thankful to our subject teacher Mr. RAJENDRA KUMAR for his active support,
valuable time and advice, whole-hearted guidance, sincere cooperation and pains-
taking involvement during the study and in completing the assignment of preparing the
said project within the time stipulated.

Lastly, We are thankful to all those, particularly the various friends , who have been
instrumental in creating proper, healthy and conductive environment and including
new and fresh innovative ideas for us during the project, their help, it would have been
extremely difficult for us to prepare the project in a time bound framework.

ANISH DEBNATH

CONTENTS
1.BACKGROUND

2.INTRODUCTION

3.TYPES

4.MECHANICAL STRUCTURE OF ROBOT ARM

5.MECHANISM OF ROBOT ARM

6.ROBOT ARM MECHANISM AND ROBOT APPARATUS

7.VELOCITY DIAGRAM OF ROBOT HAND WHEN PICKING GLASS OF WATER

8.ACCLERATION DIAGRAM

9.THE ROBOT ARM FREE BODY DIAGRAM (FBD)

10.FORCE CALCULATIONS OF JOINTS

11.. ROBOT HAND WITH LINKAGES (FORCE CONSIDERATION)

12.MOTION IN ROBOT HAND

13. REFERENCES
BACKGROUND
Taking a look back at the history of robot development, a special kind of human-size
industrial robotic arm called Programmable Universal Machine for Assembly (PUMA)
came into existence. This type of robot is often termed anthropomorphic because of the
similarities between its structure and the human arm. The individual joints are named after
their human-arm counterparts. “It is worth noting that in our work, the hand is magnetic
and not a generalized manipulator. In the proper sense of the word, manipulation is the
function of the arm. The function of the arm is to position and orient the hand, act as a
mechanical connection and power and sensing transmission link between the hand and the
main body of the person. The full functional meaning of the arm rests in the hand” (Bejczy
& Jau, 1986). Our work provides important elements that are required to build a simple
robotic arm of very high quality. As stated earlier we are making use of the.

INTRODUCTION

Robotic arms are mechanically controlled devices designed to replicate the movement
of a human arm. The devices are used for lifting heavy objects and carrying out tasks that
require extreme concentration and expert accuracy. It duplicating human arm movement
have greatly assisted in activities of humans, from industrial assembling to prosthetics.
However, they are not fully accessible to everyone, especially those suffering difficulties
in daily routines at home due to illness, disability or old age. A cost effective, robust and
easy to use robotic arm assistant will greatly benefit them in situations such as eating food
and grasping objects. The robotic arm most often is used for industrial and nonindustrial
purposes.

TYPES
Various types of robotic arm are available. Each type has its own specifications. For
example, the number of joints in the arm varies. The direction in which the joints rotate
varies also. Some of the most common types of robotic arm include vertically articulated,
selective compliant assembly, polar, Cartesian, cylindrical and parallel.

MECHANICAL STRUCTURE OF ROBOT ARM

In constructing our arm, we made use of three stepper motors and gears since our structure
is a three dimensional structure. A typical prototype that we employed is as shown in There
is a stepper motor at the base, which allows for circular movement of the whole

structure; another at the shoulder which allows for upward and downward movement of
the arm; while the last stepper motor at the wrist allows for the picking of objects by the
magnetic hand.
MECHANISM OF ROBOT ARM
A robot arm mechanism includes a handling member for supporting and handling an
object, a robot arm made up of a plurality of links, and a robot arm driving mechanism for
driving the robot arm to assume its contracted and extended position. The robot arm
comprises first and second arm links, a link retaining mechanism pivotably retaining the
first and second arm links and a link operating mechanism to operate one of the first and
second arm links by a motion of the other of the first and second arm links. The link
operating mechanism comprises a crank, a coupling link and a connecting link. The crank
integrally connected to the coupling link is pivotably connected to one of the first and
second arms and to the link retaining mechanism. The connecting link is pivotably
connected to the other of the first and second arms. This leads to the advantage that the
robot arms can be contracted and extended and rotated by only two electric motors

ROBOT ARM MECHANISM AND ROBOT APPARATUS

Herein disclosed is a robot arm mechanism comprising: a first handling member for
supporting and handling a first object; a second handling member for supporting and
handling a second object; a first robot arm including a first arm link and a second arm link,
the first end portion of the second arm link being pivotably connected to the second end
portion of the first arm link, and the second end portion of the second arm link being
connected to the first handling member to allow the first handling member to support the
first object in a stable condition; a second robot arm including a first arm link and a second
arm link, the first end portion of the second arm link being pivotably connected to the
second end portion of the first arm link, the second arm link being inclined with respect to
the second arm link of the first robot arm at a preset angle defined between the central line
of the second arm link of the second robot arm and the central line of the second arm link
of the first robot arm, and the second end portion of the second arm link being connected
to the second handling member to allow the second handling member to support the
second object in a stable condition; a robot arm moving mechanism for allowing one of the
first arm links and of the first and second robot arms to be angularly moved with respect to
the other of the first arm links of the first and second robot arms; and an angle keeping
mechanism for keeping substantially fixed the preset angle defined between the central
line of the second arm link of the second robot arm and the central line of the second arm
link of the first robot arm as one of the first arm links of the first and second robot arms is
angularly moved with respect to the other of the first arm links of the first and second
robot arms.

VELOCITY DIAGRAMS OF ROBOT HAND, WHEN PICKING

GLASS OF WATER

Let robot arm is a rotating wheel of L diameter. The joint rotates at Y rpm, so therefore the
velocity is

Velocity of end effector on straight arm = 2 * pi * radius * rpm

 However the end effector does not just rotate about the base, but can go in many
directions. The end effector can follow a straight line, or curve, etc.

With robot arms, the quickest way between two points is often not a straight line. If two
joints have two different motors, or carry different loads, then max velocity can vary
between them. When we tell the end effector to go from one point to the next, we have two
decisions. Have it follow a straight line between both points, or tell all the joints to go as
fast as possible - leaving the end effector to possibly swing wildly between those points.

In the image, end effector of the robot arm is moving from the blue point to the red
point. In the top example, the end effector travels a straight line. This is the only possible
motion this arm can perform to travel a straight line. In the bottom example, the arm is told
to get to the red point as fast as possible. Given many different trajectories, the arm goes
the method that allows the joints to rotate the fastest.

ACCELERATION DIAGRAM
THE ROBOT ARM FREE BODY DIAGRAM (FBD)
The Denavit-Hartenberg (DH) Convention is the accepted method of drawing robot arms
in FBD's. There are only two motions a joint could make: translate and rotate. There are
only three axes this could happen on: x, y, and z (out of plane). Below I will show a few
robot arms, and then draw a FBD next to it, to demonstrate the DOF relationships and
symbols. Note that I did not count the DOF on the gripper.The gripper is often complex
with multiple DOF, so for simplicity it is treated as separate in basic robot arm design.
4 DOF Robot Arm, three are out of plane:
 3 DOF Robot Arm, with a translation joint:

5 DOF Robot Arm:

Notice between each DOF there is a linkage of some particular length. Sometimes a
joint can have multiple DOF in the same location. An example would be the human
shoulder. The shoulder actually has three coincident DOF. If you were to
mathematically represent this, you would just say link length = 0.
Also note that a DOF has its limitations, known as the configuration space. Not all
joints can swivel 360 degrees! A joint has some max angle restriction. For example,
no human joint can rotate more than about 200 degrees. Limitations could be from
wire wrapping, actuator capabilities,servo max angle, etc. It is a good idea to label
each link length and joint max angle on the FBD.DOF arm on a 2 DOF robot (3
DOF total).
 Your robot arm can also be on a mobile base, adding additional DOF. If the
wheeled robot can rotate, that is a rotation joint, if it can move forward, then that is
a translational joint

FORCE CALCULATIONS OF JOINTS

This is where this tutorial starts getting heavy with math. Before even continuing, I
strongly recommend you read the mechanical engineering tutorials for statics
anddynamics. This will give you a fundamental understanding of moment
armcalculations.The point of doing force calculations is for motor selection. You must
make sure that the motor you choose can not only support the weight of the robot arm, but
also what the robot arm will carry (the blue ball in the image below).The first step is to
label your FBD, with the robot arm stretched out to its maximum length.
Choose these parameters:

• weight of each
linkage

• weight of each joint

• weight of object to
lift

• length of each
linkage

Next you do a moment arm calculation, multiplying downward force times the
linkage lengths. This calculation must be done for each lifting actuator. This
particular design has just two DOF that requires lifting, and the center of mass of
each linkage is assumed to be Length/2.
Torque About Joint 1:
M1 = L1/2 * W1 + L1 * W4 + (L1 + L2/2) * W2 + (L1 + L3) * W3
Torque About Joint 2:
M2 = L2/2 * W2 + L3 * W3
As you can see, for each DOF you add the math gets more complicated, and the
joint weights get heavier. You will also see that shorter arm lengths allow for
smaller torque requirements.

FORWARD KINEMATICS
Forward kinematics is the method for determining the orientation and position of the end
effector, given the joint angles and link lengths of the robot arm. To calculate forward
kinematics, all you need is highschool trig and algebra. For our robot arm example, here
we calculate end effector location with given joint angles and link lengths. To make
visualization easier for you, I drew blue triangles and labeled the angles.

Assume that the base is located at x=0 and y=0. The first step would be to locate x
and y of each joint.
Joint 0 (with x and y at base equaling 0):
x0 = 0
y0 = L0
Joint 1 (with x and y at J1 equaling 0):
cos(psi) = x1/L1 => x1 = L1*cos(psi)
sin(psi) = y1/L1 => y1 = L1*sin(psi)
Joint 2 (with x and y at J2 equaling 0):
sin(theta) = x2/L2 => x2 = L2*sin(theta)
cos(theta) = y2/L2 => y2 = L2*cos(theta)
End Effector Location (make sure your signs are correct):
x0 + x1 + x2, or 0 + L1*cos(psi) + L2*sin(theta)
y0 + y1 + y2, or L0 + L1*sin(psi) + L2*cos(theta)
z equals alpha, in cylindrical coordinates
The angle of the end effector, in this example, is equal to theta + psi.
Too lazy to calculate forward kinematics yourself?
Check out my Robot Arm Designer v1 in excel.

INVERSE KINEMATICS
Inverse kinematics is the opposite of forward kinematics. This is when you have a
desired end effector position, but need to know the joint angles required to achieve
it. The robot sees a kitten and wants to grab it, what angles should each joint go to?
Although way more useful than forward kinematics, this calculation is much more
complicated too. As such, I will not show you how to derive the equation based on
your robot arm configuration.
Instead, I will just give you the equations for our specific robot design:
 psi = arccos((x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2))
theta = arcsin((y * (L1 + L2 * c2) - x * L2 * s2) / (x^2 + y^2))
where c2 = (x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2);
and s2 = sqrt(1 - c2^2);
So what makes inverse kinematics so hard? Well, other than the fact that it
involvesnon-linear simultaneous equations, there are other reasons too.
First, there is the very likely possibility of multiple, sometimes infinite, number of
solutions (as shown below). How would your arm choose which is optimal, based
on torques, previous arm position, gripping angle, etc.?

There is the possibility of zero solutions. Maybe the location is outside the
workspace, or maybe the point within the workspace must be gripped at an
impossible angle.
Singularities, a place of infinite acceleration, can blow up equations and/or leave
motors lagging behind (motors cant achieve infinite acceleration).
And lastly, exponential equations take forever to calculate on a microcontroller. No
point in having advanced equations on a processor that cant keep up.
Too lazy to calculate inverse kinematics yourself?
Check out my Robot Arm Designer v1 in excel.
MOTION PLANNING
Motion planning on a robot arm is fairly complex so I will just give you the basics.

Suppose your robot arm has objects within its workspace, how does the arm move
through the workspace to reach a certain point? To do this, assume your robot arm
is just a simple mobile robot navigating in 3D space. The end effector will traverse
the space just like a mobile robot, except now it must also make sure the other
joints and links do not collide with anything too. This is extremely difficult to do . .
.
What if you want your robot end effector to draw straight lines with a pencil?
Getting it to go from point A to point B in a straight line is relatively simple to
solve. What your robot should do, by using inverse kinematics, is go to many
points between point A and point B. The final motion will come out as a smooth
straight line. You can not only do this method with straight lines, but curved ones
too. On expensive professional robotic arms all you need to do is program two
points, and tell the robot how to go between the two points (straight line, fast as
possible, etc.). For further reading, you could use the wavefront algorithm to plan
this two point trajectory.Velocity (and more Motion Planning)
Calculating end effector velocity is mathematically complex, so I will go only into
the basics. The simplest way to do it is assume your robot arm (held straight out) is
a rotating wheel of L diameter. The joint rotates at Y rpm, so therefore the velocity
is
Velocity of end effector on straight arm = 2 * pi * radius * rpm
However the end effector does not just rotate about the base, but can go in many
directions. The end effector can follow a straight line, or curve, etc.
With robot arms, the quickest way between two points is often not a straight line. If
two joints have two different motors, or carry different loads, then max velocity can
vary between them. When you tell the end effector to go from one point to the next,
you have two decisions. Have it follow a straight line between both points, or tell
all the joints to go as fast as possible - leaving the end effector to possibly swing
wildly between those points.
In the image below the end effector of the robot arm is moving from the blue point
to the red point. In the top example, the end effector travels a straight line. This is
the only possible motion this arm can perform to travel a straight line. In the
bottom example, the arm is told to get to the red point as fast as possible. Given
many different trajectories, the arm goes the method that allows the joints to rotate
the fastest.

There are many deciding factors. Usually you want straight lines when the object
the arm moves is really heavy, as it requires the momentum change for movement
(momentum = mass * velocity). But for maximum speed (perhaps the arm isn't
carrying anything, or just light objects) you would want maximum joint speeds.
Now suppose you want your robot arm to operate at a certain rotational velocity,
how much torque would a joint need? First, lets go back to our FBD:
Now lets suppose you want joint J0 to rotate 180 degrees in under 2 seconds, what
torque does the J0 motor need? Well, J0 is not affected by gravity, so all we need to
consider is momentum and inertia. Putting this in equation form we get this:
torque = moment_of_inertia * angular_acceleration
breaking that equation into sub components we get:
torque = (mass * distance^2) * (change_in_angular_velocity / change_in_time)
and
change_in_angular_velocity = (angular_velocity1)-(angular_velocity0)
angular_velocity = change_in_angle / change_in_time
Now assuming at start time 0 that angular_velocity0 is zero, we get
torque = (mass * distance^2) * (angular_velocity / change_in_time)
where distance is defined as the distance from the rotation axis to the center of
mass of the arm:
center of mass of the arm = distance = 1/2 * (arm_length)
(use arm mass)
but you also need to account for the object your arm holds:
center of mass of the object = distance = arm_length
(use object mass)
So then calculate torque for both the arm and then again for the object, then add the
two torques together for the total:
torque(of_object) + torque(of_arm) = torque(for_motor)
And of course, if J0 was additionally affected by gravity, add the torque required to
lift the arm to the torque required to reach the velocity you need. To avoid doing
this by hand, just use the robot arm calculator.
But it gets harder . . . the above equation is for rotational motion and not for
straight line motions. Look up something called a Jacobian if you enjoy
mathematical pain =P
REFERENCES
• http//:www.mhhe.com/robpt/tom

• S.S. Rattan, Theory of Machines, 3rd Edition, 2008

• Mechanisms and Machines by Amitabha Ghosh

• Mechanism_control_and_visual_management_of_a_jumping_robot.pdf

• http://nptel.iitm.ac.in

• http://www.engineeredge.com/gears/gears_type.htm

THANK YOU