Final Year Project

1. MEHRAN UNIVERSITY
OF ENGINEERING AND TECHNOLOGY
JAMSHORO
Final Year Project
Presentation
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2. Modelling and Fabrication of 5DOF
Robotic Arm
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3. Supervisor:
Dr. Jawaid Daudpoto
Group Members:
• Abdul Rehman Memon (14ME)
• Karimbux Khaskheli
• Shahmeer Ahmed
• Ahmed Raza
• Jadim Ali

4. CONTENTS
1. Aim & Objectives.
2. Motivation.
3. Literature Review.
4. Methodology.
5. Our project.
6. Prototype Design & Torque Calculations.
7. Material & Components.
8. Workspace & Kinematics.
9. Future Recommendations.
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5. • AIM
Modelling and Fabrication of 5DOF Robotic Arm
• OBJECTIVES
 Model of robotic arm on CAD software
 Selection of material for robotic arm links
 Selection of components
 Torque Calculations
 Selection of servos
 Workspace & Kinematics
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6. MOTIVATION
• Articulated robotic arm are increasingly being
integrated into working tasks to replace humans
especially to perform the repetitive task and used in
industries.
• The outcome of this research to model and
fabricate a 5DOF robotic arm with pick and place
application which may also be helpful for the
student to know robotics and use in education
purposes for their learning.
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7. LITERATURE REVIEW
Low-Cost Robot Arm
with
Four Degrees of
Freedom
Internet Controlled Robotic Arm
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8. LITERATURE REVIEW
Automatic Pick and Place Robotic Arm Robotic Arm Control through
Human Arm Movement
Design and Fabrication of Voice Activated Robotic Arm
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9. METHODOLOGY
• Model of robotic arm on Solidworks.
• Selection of material for robotic arm and
components.
• Torque Calculation.
• Selection of servo motors.
• Assembly of robotic arm.
• Program a robotic arm.
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10. OUR PROJECT
Our Project 5DOF robotic arm is
controlled by Arduino Mega Board which is
programmed by using Arduino
software angles of movement
of arm is defined in program and
Robotic arm operates
Autonomously Without any control
Component like joystick,
potentiometer etc.
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11. OUR PROJECT
System Block Diagram
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12. OUR PROJECT
• Its is 5DOF serial
manipulator.
• It can be used to teach the
robotics kinematics and
mechanism.
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13. 13

14. PROTOTYPE DESIGN
Robotic Arm Model on Solidworks.
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15. TORQUE CALCULATION
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16. MATERIAL & COMPONENTS
Acrylic Sheet TowerPro MG995
Servo
TowerPro SG90 Servo
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17. MATERIAL & COMPONENTS
Arduino Mega Board Bread Board
9 Volts Battery
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18. WORKSPACE
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19. KINEMATICS
• Forward Kinematics Analytically
Position 1
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20. KINEMATICS
• Forward Kinematics Analytically
Position 2
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21. KINEMATICS
• Forward Kinematics on Matlab
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22. KINEMATICS
• Forward Kinematics on Matlab
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23. KINEMATICS
• Position Accuracy Test of Robotic Arm
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24. FUTURE RECOMMENDATION
• Protractor and scales can be attached on the
robotic arm which help to measure degrees &
Coordinates points.
• Force sensor can be installed on gripper which
shows force in output when gripper pick any object.
• To increase functionality and control of the robotic
arm, it can be controlled and programmed by
Matlab software instead of Arduino software by
connecting with Arduino Mega microcontroller
board via hardware support package.
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25. REFERENCES
1. Ashraf Elfasakhany, Eduardo Yanez , Karen Baylon ,
Ricardo Salgado "Design and Development of a
Competitive Low-Cost Robot Arm with Four Degrees of
Freedom" Taif University, Al-Haweiah, Saudi Arabia,
November 2011.
2. Mohd Ashiq Kamaril Yusoffa, Reza Ezuan Saminb, Babul
Salam Kader Ibrahimc, “Wireless Mobile Robotic Arm”,
International Symposium on Robotics and Intelligent
Sensors 2012 (IRIS 2012), July 2012.
3. Sajid Ghuffar, Javaid Iqbal, Usman Mehmood, Muhammad
Zubair "Design and Fabrication of a Programmable 5-DOF
AutonomousRobotic Arm" National University of Science
and Technology, Rawalpindi, Pakistan, August 2006.
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26. REFERENCES
4. Ravikumar Mourya, Amit Shelke, Sourabh Satpute, Sushant
Kakade, Manoj Botre " Design and Implementation of Pick
and Place Robotic Arm" International Journal of Recent
Research in Civil and Mechanical Engineering (IJRRCME),
September 2015.
5. M. Adeel, J. Iqbal, M. Ali, R. Asif, S. Mumtaz, Design,
Control and Implementation of a Light Weight 5-DOF
Robotic Arm using a Low-Cost Microcontroller via Radio
LAN, Proceedings of the International ACIAR conference,
Bangkok, Thailand, 2005.
6. H Liu, N. Stoll, S. Junginger, K. Thurow, “A Common
Wireless Remote Control System for Mobile Robots in
Laboratory”, In: Proceeding of 2012 IEEE International
Instrumentation and Measurement Technology Conference
(I2MTC), Graz, Austria, 13-16 May, 2012. 26