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Skelton Mechanism
Skelton Mechanism
figure(1). Schematic diagram of mechanism of the robot RALS.
It depicts the skeletal structure of the robot. The first approach to the design phase. The assignment of the frames is according to the Denavit-Hartenburg (DH) Convention. And the choice of frames is related to make computations easier.
RALS is an articulated robotic arm having six degrees of freedom. Although it doesn't depict the actual movements by just looking at the figure(1), all the kinematics of the robotic arm are calculated using this skeletal mechanism. It should be noted this is the initial configuration of the robot used for taking the reference to measure the angles of revolute joints concerning the joint frame assigned to it.
X0Z0 is the base frame attached to the second joint, although it depicts the motion of the first revolute joint for computational purposes. X6Z6 is the frame attached to the end-effector frame as shown in figure(1). The Remaining frames are attached to each joint according to DH convention. Also, it should be noted that an intermediate frame is attached to joint 5 as XiZi for computational purposes.
Note:
Note:
1. Joint 1 refers to the very first joint in the down-left side of the figure(1).
2. Remaining joints (2,3,...5) are mentioned anywhere in the section are named thereafter.
Design of the Robotic Arm.
Design of the Robotic Arm.
The present design is inspired by the many open-source designs and is hereby mentioned in the bibliography. The main aim of this design is making it as simple as possible and less no of moving parts.
figure(2). Rendered image of the RALS. It can be seen clearly now the shoulder joint which is the very first joint (acts like a universal joint) at the bottom of figure. The elbow joint shown at the middle and wrist shown at the top (almost) of the figure.
figure(3) is the rendered image of the three-fingered adaptive underactuated gripper and the design is adapted from a research paper mentioned in the bibliography.
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