Project
| # | Title | Team Members | TA | Documents | Sponsor |
|---|---|---|---|---|---|
| 31 | Movable Robotic Arm Platform |
Chenxi Wang Shihua Zeng Zhizhan Li Zhuohao Xu |
appendix1.docx design_document5.pdf design_document6.pdf design_document1.pdf design_document2.pdf design_document3.docx photo1.png proposal1.pdf proposal3.pdf proposal2.pdf |
Jiahuan Cui | |
| # Problem There will be dangerous waste that generate daily in laboratory or factory. Moving the waste manually can be risky because operator will contact these materials which may be toxic, explosive, radiative, etc. Hence, disposal unit need a better way to remotely take, and transport boxed waste within narrow circumstances like aisle. Meanwhile, they can also remotely place the waste into the disposal device in a specific orientation. # Solution Overview Our solution for remote taking, moving, and placing hazardous waste is to build a movable robotic arm platform with somatosensory controller. - The platform with four non-offset caster wheels can move omnidirectionally without changing chassis orientation, making robot be able to move in narrow space smoothly without making much turn. - There will be a 6-freedom robotic arm with a suction cup end actuator on platform. The arm can easily get and place the object at any orientation we want. - The platform has a camera to give real-time video feedback. Operator can refer to the feedback and adjust robotic arm’s movement by moving its hand with somatosensory controller. # Solution Components ## Omidirectional Chassis - 4 non offset caster wheels with motor controlling steering - A camera to give video feed back ## Robotic Arm - A SCARA type structure providing 3 axes translation freedom - A RRR structure at the end providing 3 axes rotation freedom - A suction cup end actuator to suck and drop object ## Controller - A Jetson Orin Nano miniPC to run the code within ROS - A specially designed controller with 3 IMU to detect the position change of user’s hand, then mapping the movement to robotic arm. # Criterion for Success - The platform can operate smooth omnidirectional translation and rotation. - The robotic arm can fetch a 200*200*200mm, 600g-700g EVA cubic (we assume it as dangerous material in laboratory) from a 218*218mm square section tunnel precisely. - The robotic arm can transport the cubic and then placing it into a 240*240*240 mm box whose orientation will varying in 6 axes. - The operator can easily control the robotic arm remotely with its hand moving and placing the cubic within 40s. |
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