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PROJECT 1 (20%)

ROBOTIC ARM

Johan Ihsan Mahmood

RUBRIC REPORTS
Total
No Benchmark Excellent Good Average Poor
score

Introduction complete and well-written; provides all

5 4 3 2
necessary background
Introduction (10%)

Project objectives are clear and concise 5 4 3 2

Procedure or steps are clear, sequential, and complete. 15 12 8 4

Methodology (30%)
Proper Free Body Diagram, Boundary condition,
Explanation of selected method , Identify resources and 15 12 8 4
tools required

Table or chart is accurate and complete, and labeled

15 12 8 4
with appropriate units.
Results
(30%)
Data, figures, graphs, tables is correctly presented and
15 12 8 4
analyzed on critical items

Discussion is detailed and includes the relationsionship

between trends/pattersn seen, a thorough discussion of 10 8 6 4
Discussion the data, and analysis of graphs.
(20%)
Research / objective questions are answered correctly,
10 8 6 4
thoroughly and clearly.

Clear and consice conslusions are given. Conclusion

Conclusion addresses problem/objective and states knowledge
10 8 6 4
(10%) gained. Errors and ways to discuss errors are thoroughly
discussed.
TOTAL
MARKS 100
(100%)
 TEAM MEMBERS

1. Team Leader (Report Objective 5)

2. Designer 1 (Report Objective 1)

3. Designer 2 (Report Objective 2) Group Photo

(Please label)

4. Designer 3 (Report Objective 3)

5. Designer 4 (Report Objective 4)

• Everyone must and collaborate and do all task together – teaching each other
skills during the project.
• However report responsibility will be delegated individually and compiled by
Team Leader.
Objective

1. To digitize the robotic arm in CAD

2. To fully assemble mechanical parts of the robot
3. To conduct Motion Analysis Study - Inverse
Kinematics – Motor Torque – Working Space etc.
4. To fully assemble electrical parts of the robotic arm
including Arduino Coding.
5. To test the performance and capabilities of the
robotic arm.
Part 1 – Digitization of Robotic Arm
 Convert the whole robot arm into CAD
 You can use scanned picture of part and sketch in CAD
 Change photo Angle = 2o  Use Blue Ruler to convert
to rotate part to FLAT photo to actual size
53mm

 You can also use 3D Scanner available in LAB

 Assemble all the parts in CAD
Auto-tracing
can be used
Part 2 – To fully assemble robot mechanical parts
 Assemble the mechanical parts first.
 Make sure of alignment and motion is free and smooth
before tightening of any fasteners.
Part 3 – Motion Analysis Study

1. Assemble the robot digitally

2. Draw the kinematics diagram of the robot arm
– Label the arm dimension at rotation axis
End effector
reference
point

X
Part 3 – Motion Analysis Study
2. Working Space – Path Trace – All DOF Axis

 Trace the path of the end effector X

to determine the working space of
the robot arm.

 Only Vertex Point can be traced

Part 3 – Motion Analysis Study
3. Inverse Kinematics
 Use Path Mate and Path motor to conduct inverse
kinematics analysis – choose any trace you want
 Plot the Motor Rotary displacement – this is your motor
displacement input – to be coded in controller
 Reference = https://www.youtube.com/watch?v=3VQMjAHfDec
 Results Inverse Kinematics
https://www.solidsolutions.co.uk/blog/2014/05/robotics-using-
SOLIDWORKS-motion/#.XXc3Pi4zapo
Part 3 – Motion Analysis Study
4. Motor sizing – Motor torque Analysis
 Determine the required motor torque if a 1000 gram
object is to be lifted by the robot arm – point A  B
(distance min to max from your workspace)

 Plot the motor torque and Power

https://www.solidsolutions.co.uk/blog/2
014/05/robotics-using-SOLIDWORKS-
motion/#.XXc3Pi4zapo
Part 4 – To fully assemble electrical parts of the
robotic arm including Arduino Coding.
 Please ensure wiring is correctly done
 Please ensure safety especially at POWER SUPPLY UNIT
Part 5 – To test the performance and capabilities of
the robotic arm.
 Compare your result with CAD & Motion Analysis
Results

1. Analyze the results

16
Discussion

1. Discuss the result

2. Compare with theory

17
Recommendation

1. Recommend

18
Conclusion

1. Conclude

19