Design and control of mobile third arm assistive cobot for heavy object manipulation

Manual handling is currently one of the leading causes of injuries among industrial workers. Robotics is a potential solution that can help workers reduce their injury risks. This report outlines the development of a novel collaborative robot (cobot) that can help workers during lifting heavy object...

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Main Author: Tan, Ting Hao
Other Authors: Ang Wei Tech
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2022
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Online Access:https://hdl.handle.net/10356/158210
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Institution: Nanyang Technological University
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spelling sg-ntu-dr.10356-1582102023-03-04T20:18:37Z Design and control of mobile third arm assistive cobot for heavy object manipulation Tan, Ting Hao Ang Wei Tech School of Mechanical and Aerospace Engineering WTAng@ntu.edu.sg Engineering::Mechanical engineering Manual handling is currently one of the leading causes of injuries among industrial workers. Robotics is a potential solution that can help workers reduce their injury risks. This report outlines the development of a novel collaborative robot (cobot) that can help workers during lifting heavy objects and reduce the force needed from the workers. Design, control and testing of the proof of concept of the cobot are included in the development. A prototype has been successfully built which can assist workers during heavy object manipulation from one location to another location. The design can be broken down into two main categories including the design of a differential drive mobile base and a third arm that can provide partial object load support for the object. The design is based on the human-robot interaction for the cobot. The control is also separated into two main sections which are the control of the mobile base and the third arm. The mobile base control is dependent upon a 2D lidar detecting and following a user using a PD controller. The lifting using the third arm is controlled by the user by means of the joystick to provide partial object load support and the planar movements of the third arm is manually controlled by the user. The third arm is tested to determine the functionality proposed in the following sections of the report. The report concludes that there is room of improvement for the proposed cobot. Limitations of the cobot is discussed and future improvements are proposed. Bachelor of Engineering (Mechanical Engineering) 2022-06-02T08:45:37Z 2022-06-02T08:45:37Z 2022 Final Year Project (FYP) Tan, T. H. (2022). Design and control of mobile third arm assistive cobot for heavy object manipulation. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158210 https://hdl.handle.net/10356/158210 en A001 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
spellingShingle Engineering::Mechanical engineering
Tan, Ting Hao
Design and control of mobile third arm assistive cobot for heavy object manipulation
description Manual handling is currently one of the leading causes of injuries among industrial workers. Robotics is a potential solution that can help workers reduce their injury risks. This report outlines the development of a novel collaborative robot (cobot) that can help workers during lifting heavy objects and reduce the force needed from the workers. Design, control and testing of the proof of concept of the cobot are included in the development. A prototype has been successfully built which can assist workers during heavy object manipulation from one location to another location. The design can be broken down into two main categories including the design of a differential drive mobile base and a third arm that can provide partial object load support for the object. The design is based on the human-robot interaction for the cobot. The control is also separated into two main sections which are the control of the mobile base and the third arm. The mobile base control is dependent upon a 2D lidar detecting and following a user using a PD controller. The lifting using the third arm is controlled by the user by means of the joystick to provide partial object load support and the planar movements of the third arm is manually controlled by the user. The third arm is tested to determine the functionality proposed in the following sections of the report. The report concludes that there is room of improvement for the proposed cobot. Limitations of the cobot is discussed and future improvements are proposed.
author2 Ang Wei Tech
author_facet Ang Wei Tech
Tan, Ting Hao
format Final Year Project
author Tan, Ting Hao
author_sort Tan, Ting Hao
title Design and control of mobile third arm assistive cobot for heavy object manipulation
title_short Design and control of mobile third arm assistive cobot for heavy object manipulation
title_full Design and control of mobile third arm assistive cobot for heavy object manipulation
title_fullStr Design and control of mobile third arm assistive cobot for heavy object manipulation
title_full_unstemmed Design and control of mobile third arm assistive cobot for heavy object manipulation
title_sort design and control of mobile third arm assistive cobot for heavy object manipulation
publisher Nanyang Technological University
publishDate 2022
url https://hdl.handle.net/10356/158210
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