Design of a cable-driven 2-DOF joint for dexterous robotic manipulator

Most aircraft components are compact and it is hard for human to visually check them. The method of observing an aircraft machine is to disassemble it to achieve inspection and then reassembling back. The process of disassembly and assembly is highly time consuming. Therefore, significant research h...

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Main Author: Law, Wei Chuan.
Other Authors: Yeo Song Huat
Format: Final Year Project
Language:English
Published: 2013
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Online Access:http://hdl.handle.net/10356/54098
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-540982023-03-04T19:04:52Z Design of a cable-driven 2-DOF joint for dexterous robotic manipulator Law, Wei Chuan. Yeo Song Huat School of Mechanical and Aerospace Engineering A*STAR Singapore Institute of Manufacturing Technology Dr Mustafa S. Kurbanhusen DRNTU::Engineering Most aircraft components are compact and it is hard for human to visually check them. The method of observing an aircraft machine is to disassemble it to achieve inspection and then reassembling back. The process of disassembly and assembly is highly time consuming. Therefore, significant research has been done on snake-like robotic arm due to its ability to access confined and constrained spaces. Firstly, the joint between each module is the most critical part and it determines the functionality and capability of the whole robotic arm. Therefore, the aim of this work is to develop a 2-DOF joint for dexterous robotic arm. The new joint must be slim and light weight, no redundancy in actuation, and have simple kinematics modeling. The joint also requires less actuator which further reduces energy consumption. To fulfill the requirements, creative thinking and thorough analysis on joint design is required. A literature review has been conducted and summarized to compare the differences between various joint mechanisms of robotic arm. The cable-driven mechanism has met the design criteria in this project and is selected for further development. This report covers the design procedure of 2-DOF joint and base unit from brainstorming of ideas at initial stage, followed by concept formation, narrowing down of various designs to detailed designs. Structure analysis, result of prototype testing, discussion and further improvement on the selected 2-DOF joint design are discussed in this report. Calculation of forward and inverse kinematics has been carried out to study the behavior of the joint. From the Finite Element Analysis, the joint can withstand maximum applied force of 80N. Finally, the programme developed by Labview is used to control the motion of module tip. The prototype has light weight and the bending angles of two axes are 56 and 46 degreesrespectively.The testing of the prototype has been conducted and it can be concluded that the proposed 2-DOF joint is able to achieve the requirement. Bachelor of Engineering (Mechanical Engineering) 2013-06-13T08:00:55Z 2013-06-13T08:00:55Z 2013 2013 Final Year Project (FYP) http://hdl.handle.net/10356/54098 en Nanyang Technological University 107 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering
spellingShingle DRNTU::Engineering
Law, Wei Chuan.
Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
description Most aircraft components are compact and it is hard for human to visually check them. The method of observing an aircraft machine is to disassemble it to achieve inspection and then reassembling back. The process of disassembly and assembly is highly time consuming. Therefore, significant research has been done on snake-like robotic arm due to its ability to access confined and constrained spaces. Firstly, the joint between each module is the most critical part and it determines the functionality and capability of the whole robotic arm. Therefore, the aim of this work is to develop a 2-DOF joint for dexterous robotic arm. The new joint must be slim and light weight, no redundancy in actuation, and have simple kinematics modeling. The joint also requires less actuator which further reduces energy consumption. To fulfill the requirements, creative thinking and thorough analysis on joint design is required. A literature review has been conducted and summarized to compare the differences between various joint mechanisms of robotic arm. The cable-driven mechanism has met the design criteria in this project and is selected for further development. This report covers the design procedure of 2-DOF joint and base unit from brainstorming of ideas at initial stage, followed by concept formation, narrowing down of various designs to detailed designs. Structure analysis, result of prototype testing, discussion and further improvement on the selected 2-DOF joint design are discussed in this report. Calculation of forward and inverse kinematics has been carried out to study the behavior of the joint. From the Finite Element Analysis, the joint can withstand maximum applied force of 80N. Finally, the programme developed by Labview is used to control the motion of module tip. The prototype has light weight and the bending angles of two axes are 56 and 46 degreesrespectively.The testing of the prototype has been conducted and it can be concluded that the proposed 2-DOF joint is able to achieve the requirement.
author2 Yeo Song Huat
author_facet Yeo Song Huat
Law, Wei Chuan.
format Final Year Project
author Law, Wei Chuan.
author_sort Law, Wei Chuan.
title Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
title_short Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
title_full Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
title_fullStr Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
title_full_unstemmed Design of a cable-driven 2-DOF joint for dexterous robotic manipulator
title_sort design of a cable-driven 2-dof joint for dexterous robotic manipulator
publishDate 2013
url http://hdl.handle.net/10356/54098
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