ABSTRACT
This work outlines the design and the
simulation of a 5-DOF (Degree of Freedom) robotic arm. The working and assembly
diagram for the arm was produced and the specific parts identified to
specifications. The robotic arm is intended to bring to bear the benefits and
advantages in the place of substituting humans with robots in most
predominantly risky work environments and activities, such as is seen in most
local ovens in Nigeria today. A model of the robotic arm structure was designed
using AutoCAD software and the simulation of the robotic arm was achieved by
using Solidworks Study motion (SSM) to
visualize the joint movements. Denavit-Hartenberg methodology was employed for
solving dynamic and kinematics of the
mechanism by analyzing the movement and relationship between the joints and
links in space and the pose of the gripper, relative to the reference frame for
the robot. The design involves the use of actuators also known as servos
to power the joints and to implement the inverse kinematics of the robotic arm
for transmission of motion at each connecting joint and control was achieved by
soft commands from the micro controller. Suitable servo motors were selected
and assigned to provide the required torque at each joint location. The servos
can control the angular position, velocity and acceleration of the output shaft
in a precise manner. The Arduino micro controller was suitably selected for its
outstanding properties which include being compatible with android platforms as
well as manual and personal computer platforms among others. The software
allows the robotic arm gripper to be positioned in space, by specifying the
coordinates of its centre position. The robotic arm was tested by specifying
various coordinates for the gripper with reference to the robot's base and
measuring the corresponding coordinates of the centre position of the gripper.
The simulation of the various components as well as the entire assembly was
done and the animation demonstration gave satisfactory results. Comparative
results from direct observations of manual loading/unloading across various
local oven against the robotic arm shows a 56.25% gain in production time for
every100 circles, which shows that the introduction of robots to load and
unload bread within the harsh environments of our local ovens will not only
increase safe production but will also ensure optimization of resources and
material handling which will lead to a more stable and economic system in the
long run.
ATUMA, A (2024). Design And Simulation Of Robotic Arm For Loading And Unloading Bread For Use In Local Ovens:- Atuma, Chigozie B. Repository.mouau.edu.ng: Retrieved Dec 06, 2024, from https://repository.mouau.edu.ng/work/view/design-and-simulation-of-robotic-arm-for-loading-and-unloading-bread-for-use-in-local-ovens-atuma-chigozie-b-7-2
ATUMA, ATUMA. "Design And Simulation Of Robotic Arm For Loading And Unloading Bread For Use In Local Ovens:- Atuma, Chigozie B" Repository.mouau.edu.ng. Repository.mouau.edu.ng, 17 Jul. 2024, https://repository.mouau.edu.ng/work/view/design-and-simulation-of-robotic-arm-for-loading-and-unloading-bread-for-use-in-local-ovens-atuma-chigozie-b-7-2. Accessed 06 Dec. 2024.
ATUMA, ATUMA. "Design And Simulation Of Robotic Arm For Loading And Unloading Bread For Use In Local Ovens:- Atuma, Chigozie B". Repository.mouau.edu.ng, Repository.mouau.edu.ng, 17 Jul. 2024. Web. 06 Dec. 2024. < https://repository.mouau.edu.ng/work/view/design-and-simulation-of-robotic-arm-for-loading-and-unloading-bread-for-use-in-local-ovens-atuma-chigozie-b-7-2 >.
ATUMA, ATUMA. "Design And Simulation Of Robotic Arm For Loading And Unloading Bread For Use In Local Ovens:- Atuma, Chigozie B" Repository.mouau.edu.ng (2024). Accessed 06 Dec. 2024. https://repository.mouau.edu.ng/work/view/design-and-simulation-of-robotic-arm-for-loading-and-unloading-bread-for-use-in-local-ovens-atuma-chigozie-b-7-2