DEVELOPMENT OF ANDRO HUMANOID ROBOT...

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International Journal of Mechanical Engineering and Technology (IJMET)Volume 8, Issue 7, July 2017, pp.

Available online at http://www.iaeme.com/IJME

ISSN Print: 0976-6340 and ISSN Online: 0976

© IAEME Publication

DEVELOPMENT OF ANDRO

U. Suhasini,

Department of Mechanical Engineering

MLR Institute

Department of Mechanical Engineering,

Institute of Aeronautical


Vardhaman Coll

ABSTRACT

A variety of mechanical hand designs have been developed in the past few

decades. The majority of the designs were made with the sole purpose of imitating the

human hand and its capabilities; however, none of these designs have been equipped

with all the motions and sensory capabilities of the human hand. The primary goal of

this thesis project was to design a robotic hand with the required amount of degrees

of- freedom and necessary constraints to achieve all the motions of the human hand.

The research of humanoid robot is diverging into the various categories such as

the artificial intelligence,

locomotion and human-robot interaction. As these researches make progress many

researchers have started to make their focus on the human friendly robots, which is

partially inspired by the rapid growth of te

Here design a robot arm PCB board by using PROTEUS software. This software

support up to 14 layers of PCB and it is highly equipped with all the modern tools

which able to make an effective and accurate PCB. We can change the width of tracks,

pads according to the application. Designers can design the custom board shape. The

Output of this software can have different format selectable by the designer. Basic

Mechanical structure is designed by using Solid works software and manufactured by

using Acrylic sheet. Programming the Humanoid robot arm will be done by using Keil

software.

Key words: humanoid robot

Cite this Article: U. Suhasini, K. Chinnamaddaiah, Lakshmipathi

and B Dhanraj. Development of Andro Humanoid Robot ARM

of Mechanical Engineering and Technology

http://www.iaeme.com/IJME

IJMET/index.asp 537 [email protected]

International Journal of Mechanical Engineering and Technology (IJMET) 2017, pp. 537–549, Article ID: IJMET_08_07_061

http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=8&IType=7

6340 and ISSN Online: 0976-6359

Scopus Indexed

DEVELOPMENT OF ANDRO HUMANOID

ROBOT ARM

i, K. Chinnamaddaiah, Lakshmipathi Yerra


MLR Institute of Technology, Hyderabad, India

N Santhi Sree


Institute of Aeronautical Engineering, Hyderabad, India

B Dhanraj


Vardhaman College of Engineering, Hyderabad, India


of the designs were made with the sole purpose of imitating the



to design a robotic hand with the required amount of degrees

freedom and necessary constraints to achieve all the motions of the human hand.


the artificial intelligence, robot hardware development, realization of biped

robot interaction. As these researches make progress many


partially inspired by the rapid growth of technology.




s according to the application. Designers can design the custom board shape. The



rylic sheet. Programming the Humanoid robot arm will be done by using Keil

humanoid robot, PCB, ARM.

U. Suhasini, K. Chinnamaddaiah, Lakshmipathi Yerra, N Santhi Sree

Development of Andro Humanoid Robot ARM. International Journal

of Mechanical Engineering and Technology, 8(7), 2017, pp. 537–549.

aeme.com/IJMET/issues.asp?JType=IJMET&VType=8&IType=7

[email protected]

T&VType=8&IType=7

HUMANOID

Lakshmipathi Yerra

Hyderabad, India


of the designs were made with the sole purpose of imitating the



to design a robotic hand with the required amount of degrees-

freedom and necessary constraints to achieve all the motions of the human hand.


robot hardware development, realization of biped

robot interaction. As these researches make progress many





s according to the application. Designers can design the custom board shape. The



rylic sheet. Programming the Humanoid robot arm will be done by using Keil

Yerra, N Santhi Sree

International Journal

asp?JType=IJMET&VType=8&IType=7

Development of Andro Humanoid Robot ARM


1. INTRODUCTION

Recent research and development has addressed a number of aspects of robotics.

hands have been developed which offer greater dexterity and flexibility, and improvements

have been made in visual sensors as well (earlier generations of visual sensors were designed

for use with television and home video, and did not process info

performance in many robotics applications; as a consequence, solid

into increased use, and developments were also made with fiber optics).

The use of superconducting materials, meanwhile, offers the pos

improvements in the electric motors that drive robotic arms. Attempts have also been made to

develop lighter robotic arms and increase their rigidity.

1.1. Humanoid Robot Arm

The robotic arm is connected by wires that link

brain that controls muscle movement

when you touch things. The wires from the motor cortex allow the wearer to control the

motion of the robot arm, and pressure

cortex give the wearer the sensation that they are touching something.

A robotic arm is a type of

to a human arm; the arm may be the sum tot

complex robot. The links of such a manipulator are connected by joints allowing either

rotational motion (such as in an

links of the manipulator can

kinematic chain of the manipulator is called the

hand.

2. DESIGN PROCEDURES

2.1. Methods

Following is the procedure we

1. Designing of PCB using Protues Software

2. Designing of Mechanical structure by using SOLID WORKS software

2.1.1. Designing of PCB using Proteus Software

Proteus professional is a software combination of ISIS schematic capture program and ARES

PCB layout program. This is a powerful and integrated development environment. Tools in

this suit are very easy to use and these tools are very useful in education an

PCB designing.



Recent research and development has addressed a number of aspects of robotics.



for use with television and home video, and did not process information quickly for optimal

performance in many robotics applications; as a consequence, solid-state vision sensors came

into increased use, and developments were also made with fiber optics).

The use of superconducting materials, meanwhile, offers the possibility of substantial


develop lighter robotic arms and increase their rigidity.

Humanoid Robot Arm

The robotic arm is connected by wires that link up to the wearer’s motor cortex

n that controls muscle movement and sensory cortex, which identifies tactile sensations


motion of the robot arm, and pressure sensors in the arm that connect back into the sensory

cortex give the wearer the sensation that they are touching something.

is a type of mechanical arm, usually programmable, with similar functions

; the arm may be the sum total of the mechanism or may be part of a more

. The links of such a manipulator are connected by joints allowing either

rotational motion (such as in an articulated robot) or translational (linear) displacement.

be considered to form a kinematic chain. The terminus of the

kinematic chain of the manipulator is called the end effector and it is analogous to the human

Figure 1 Humanoid Robot Arm

DESIGN PROCEDURES

Following is the procedure we have adopted for Designing our major project

1. Designing of PCB using Protues Software

2. Designing of Mechanical structure by using SOLID WORKS software

Designing of PCB using Proteus Software



this suit are very easy to use and these tools are very useful in education an

[email protected]

Recent research and development has addressed a number of aspects of robotics. Robotic



rmation quickly for optimal

state vision sensors came

sibility of substantial


e wearer’s motor cortex the part of the

and sensory cortex, which identifies tactile sensations


sensors in the arm that connect back into the sensory

, with similar functions

al of the mechanism or may be part of a more

. The links of such a manipulator are connected by joints allowing either

) or translational (linear) displacement. The

. The terminus of the

and it is analogous to the human

have adopted for Designing our major project



this suit are very easy to use and these tools are very useful in education and professional

U. Suhasini, K. Chinnamaddaiah, Lakshmipathi Yerra, N Santhi Sree and B Dhanraj

http://www.iaeme.com/IJMET/index.asp 539 [email protected]

As professional PCB designing software with integrated space based auto router, it

provides features such as fully featured schematic capture, highly configurable design rules,

interactive SPICE circuit simulator, extensive support for power planes, industry standard

CADCAM & ODB++ output and integrated 3D viewer.

2.1.2. Starting New Design

Step 1: Open ISIS software and select New design in File menu

Step 2: A dialogue box appears to save the current design. However, we are creating a new

design file so you can click Yes or No depending on the content of the present file. Then a

Pop-Up appears asking to select the template. It is similar to selecting the paper size while

printing. For now select default or according to the layout size of the circuit.

Figure 2 New Design Window

Step 3: An untitled design sheet will be opened, save it according to your wish, it is better to

create a new folder for every layout as it generates other files supporting your design.

However, it is not mandatory.

Step 4: After opening Proteus you can make any circuit design using Proteus available

components. Make sure that the components you use must have their PCB footprint available

in the package (or in other words, they must have the component packages for ARES). For

further detail use Proteus Help menu.

To Select components, Click on the component mode button.

Figure 3 Component Mode

Step 5: Click On Pick from Libraries. It shows the categories of components available and a

search option to enter the part name. Once finished with the design click on the red button

shown in the figure below. It will generate the Netlist of components and open the ARES

interface.



Figure 4 Pick From Libraries

Step 6: Select the components from categories or type the part name in Keywords text box.

Figure 5 Keywords Textbox

Step 7: The selected components will appear in the devices list. Select the component and

place it in the design sheet by left-click.

Components which we are going to use are

• IR LED

• Photodiode

• Resistors

• Potentiometer

• LM358

Step 8: Place all the required components and route the wires i.e, make connections. Once the

basic placement has been completed, the next stage of the PCB design is to route the

connections between all the components. The PCB software then routes the physical

connections on the board according to the netlist from the schematic. To achieve this it will

use the number of layers that are available for connections, creating via holes as required.

Often one layer will be allocated for use as a ground plane, and another as a power plane. The

routing can use a significant amount of computing power. This is particularly true for larger

designs where there may be upwards of three or four thousand components.

Where routing is difficult as a result of high component density, this can result in the routing

taking a significant amount of time.

Either selection mode above the component mode or component mode allows to connect

through wires.



Left click from one terminal to other to make connection. Double right-click on the

connected wire or the component to remove connection or the component respectively.

Double click on the component to edit the properties of the components and click on Ok.

Figure 6 PCB Circuit

Step 9: After connecting the circuit, click on the play button to run the simulation. Simulation

can be stepped, paused or stopped at any time.

Step 10: 3D VISUALISATION

The 3D Visualisation Tool (3D Viewer) in ARES provides a way to extrude a layout and

view the board as it would appear in real life. This is extremely useful as a design aid during

board layout.

Figure 7 3D Visualisation

Step 11: Once the ARES is opened, you can perform the manual or auto routing to

interconnect the component and route the traces tracks. You can also make your PCB design

directly in the ARES without going through the Proteus ISIS. (Note: If you don’t require the

simulation part of Proteus, you can directly open the ARES and design your PCB layout by

selecting the desired component packages from the library)

Step 12: The “Track Mode” should be greater or equal to T40. This is because of the while

the Machine is routing with 0.6 mm bit, the layout get enough width for its routing paths.

Also use “Round Through-Hole Pad Mode” and “DIL Pad Mode” in the circuit wherever

required. This increases the copper space for a component pins and helps you get enough

space while soldering.



Figure 8 Ares View

Step 13:. From ARES go to the output menu and select CADCAM output (which is the same

as Gerber).

Step 14: From CADCAM output window make sure that Mirror and RS274X is selected.

Now specify the output folder where you want to save the Output GERBER/CADCAM files.

Please note that on the left it shows all the layer that it will export: Top Copper, Bottom

Copper etc. files. You only need to check Bottom Layer and Drill boxes, rest are of no use

here.

Step 15: Now open the folder where you saved your CADCAM/GERBER/EXCELLON

output files. It will contain at least three files: Bottom Layer, Drill and Read-Me files. We just

need Bottom Copper and Drill file.

2.2. Designing of Mechanical Structure by Using Solidworks Software

2.2.1. Designing of Mechanical structure by using SOLID WORKS software

We Designed the robot arm Mechanical structure by using SOLID WORKS by taking the

Dimensions as shown below.

There are three different views namely Drawing view-1 , Drawing view-2 and Drawing

view-3 which helps us to determine the exact structure.



The Automatic Border tool lets you control every aspect of a sheet format’s border,

including zone layout and border size.

Using the Automatic Border

changes in the Zone Parameters

manually edit the sheet format. You can also include Margin Mask areas where formatting

elements such as labels and dividers are not sho

area on a sheet for notes.

To use the Automatic Border tool:

• In a drawing, click Edit Sheet Format

• Click Automatic Border

• Set options:

o On the first page of the

from the sheet's format. For example, you can delete existing format entities before

creating a new smart border.

o On the second page, define the margins, borders, and zones.

o On the third page, defin

a convenient location for notes. In this example, the margin masked area includes the

upper right zone labels.

• Click



Figure 9 Drawing View-1

tool lets you control every aspect of a sheet format’s border,

including zone layout and border size.

Automatic Border tool, borders and zones automatically update to match

Zone Parameters tab of the Sheet Properties dialog box without having to


elements such as labels and dividers are not shown. This is helpful when you want to mask an

tool:

Edit Sheet Format (Sheet Format toolbar).

(Sheet Format toolbar).

On the first page of the Automatic Border Property Manager, select items to delete


creating a new smart border.

On the second page, define the margins, borders, and zones.

On the third page, define Margin Mask areas for zone labels and dividers that provide


upper right zone labels.


[email protected]

tool lets you control every aspect of a sheet format’s border,

s automatically update to match

dialog box without having to


wn. This is helpful when you want to mask an

Manager, select items to delete


e Margin Mask areas for zone labels and dividers that provide





Edit Sheet format

You can edit your sheet format from the Command Manager tab or Sheet Format toolbar.

• On the Sheet Format toolbar, click Edit Sheet Format .

• On the Sheet Format Command Manager, click Edit Sheet Format .

• Right-click a blank area and click Edit Sheet Format .

Sheet Scale

You can change the sheet scale from the status bar.

To change the sheet scale of a drawing, in the status bar click Sheet Scale and click a

scale. You can also access the Sheet Properties dialog box from the menu.




3. ARDUINO PROGRAMMING

Arduino provides a standard form factor that breaks the functions of the micro-controller into

a more accessible package.

The motors are small, have built-in control circuitry, and are extremely powerful for their

size. A standard servo such as the Futaba S-148 has 42 oz/inches of torque, which is strong

for its size. It also draws power proportional to the mechanical load. A lightly loaded servo,

therefore, does not consume much energy.

A program for Arduino may be written in any programming language for a compiler that

produces binary machine code for the target processor. Atmel provides a development

environment for their microcontrollers, AVR Studio and the newer Atmel Studio.

The Arduino project provides the Arduino integrated development environment (IDE),

which is a cross-platform application written in the programming language Java. It originated

from the IDE for the languages Processing and Wiring.

Open the Arduino IDE software on your computer. Coding in the Arduino language will

control your circuit. Open a new sketch File by clicking on New. Servo motors have three

terminals - power, ground, and signal. The power wire is typically red, and should be

connected to the 5V pin on the Arduino. The ground wire is typically black or brown and

should be connected to one terminal of ULN2003 IC (10 -16). To protect your Arduino board

from damage, you will need some driver IC to do that.

Arduino program for control of motors

#include <Servo.h>

Servo servo1;

Servo servo2;

Servo servo3;

Servo servo4;

Servo servo5;

int pos1 = 13;

void setup()

{

Serial.begin(9600);

//put your setup code here, to run

once: servo1.attach(9);

servo2.attach(3);

servo3.attach(5);

servo4.attach(6);

servo5.attach(7);

}

void loop()

{

while (Serial.available())

{

// get the new byte:

char inChar = (char)Serial.read(); if(inChar=='a')

{

for (pos1 = 0; pos1 > 180; pos1 += 1)



{

servo1.write(pos1);

delay(100);

}

}

else if(inChar=='b')

{

for (pos1 = 90; pos1 >= 1; pos1 -= 1)

{

servo1.write(pos1);

delay(100);

}

}

else if(inChar=='c')

{

for (pos1 = 0; pos1 > 180; pos1 += 1)

{

servo2.write(pos1);

delay(100);

}

}

else if(inChar=='d')

{

for (pos1 = 90; pos1 >= 1; pos1 -= 1)

{

servo2.write(pos1);

delay(100);

}

}

else if(inChar=='e')

{

for (pos1 = 0; pos1 > 180; pos1 += 1)

{

servo3.write(pos1);

delay(100);

}

}

else if(inChar=='f')

{

for (pos1 = 90; pos1 >= 1; pos1 -= 1)

{

servo3.write(pos1);

delay(100);

}



}

else if(inChar=='g')

{

for (pos1 = 0; pos1 > 180; pos1 += 1)

{

servo4.write(pos1);

delay(100);

}

}

else if(inChar=='h')

{

for (pos1 = 90; pos1 >= 1; pos1 -= 1)

{

servo4.write(pos1);

delay(100);

}

}

else if(inChar=='i')

{

for (pos1 = 0; pos1 > 180; pos1 += 1)

{

servo5.write(pos1);

delay(100);

}

}

else if(inChar=='j')

{

for (pos1 = 90; pos1 >= 1; pos1 -= 1)

{

servo5.write(pos1);

delay(100);

}

}

4. ACRYLIC SHEET

Poly(methyl methacrylate) (PMMA), also known as acrylic oracrylic glass as well as by the

trade names Plexiglas, Acrylite, Lucite, and Perspex among several others (see below), is a

transparent thermoplastic often used in sheet form as a lightweight or shatter-resistant

alternative to glass.



Figure 12 Acrylic Sheet

4.1. Manufacturing by Using Acrylic Sheet

Robot arm is manufactured by using Acrylic sheet taking thickness of 5mm. Holes are drilled

at the respective positions. All the fingers are assembled and an arm is prepared. This arm

shows the movement of fingers by using Arduino program which is programmed in it.

By changing the input variables we can obtain different finger movements which can be

visualized.

Figure 13 Fingers by using Acrylic Sheet

5. CONCLUSIONS

The objectives of this project has been achieved which was developing the hardware and

software robotic arm. From observation that has been made, it clearly shows that its

movement is precise, accurate, and is easy to control and user friendly to use. The robotic arm

has been developed successfully as the movement of the robot can be controlled precisely.

This robotic arm control method is expected to overcome the problem such as placing or

picking object that away from the user, pick and place hazardous object in a very fast and

easy manner.

REFERENCES

[1] Craig, J. J. Introduction to Robotics: Mechanics and Control. Addison Wesley.

[2] Russell, S. J. & Norvig, P- Artificial Intelligence: A Modern Approach.

[3] Horn, Berthold, K. P- Robot Vision.

[4] Humanoid Robots -Edited by Ben Choi

[5] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda

Humanoid Robot”,



[6] Hirose M., Takenaka T., Gomi H., Ozawa N.: Honda Humanoid Robot (in Japanese),

Journal of the Robotic Society of Japan, Vol. 15, No. 1, pp. 983- 987, 1997 .

[7] Kapse S. S.,Dr. S. S. Ohol, Design and Development of Modular Humanoid ARM Based

on RC Servo Motor. International Journal of Advanced Research in Engineering and

Technology (IJARET), 4(7), 2013, pp. 156–160

[8] Nitin Kardekar, Dr Sane N K, Effect of Humanoid Shaped Obstacle on the Velocity

Profiles of Flow of Air Curtain. International Journal of Mechanical Engineering and

Technology (IJMET), 3(3), 2012, pp. 511–516

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