Eye-hand robotic system for using cargo lift

• Main Author: Lien, Jian Yao.
• Other Authors: Wang, Dan Wei
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/14748
• Institution: Nanyang Technological University

In a bid to “inspire and engage the wider community of engineers and technologists for defence and national security, and to promote interest in defence science and technology”, the Defence Science and Technology Agency organized the TechX Challenge in year 2008. Participating robots have to be fully autonomous while completing tasks required during the competition. The xWarrior is the entry robot from Nanyang Technological University. This final year project is an attempt to design and build an “Eye-Hand Robotic System for Using Cargo Lift”, which is a robotic arm that is crucial to the xWarrior in completing tasks during the TechX Challenge. The robotic arm comprises of a light weight arm frame and electric servo actuators. In order to lower the overall cost of the robotic arm system, a low-cost PIC18F2431-based servo controller was developed to drive the servo motor for 3 of the 5 joints of the robotic arm. Mounting platform and braces for the robotic arm and other electronic components, and a case cover have to be designed and constructed as well. This reports looks at the mechanical design of the robotic arm with details of the specific hardware components and their operational capabilities. In addition, the report also covers the electronic design of the PIC-based servo controller.