Design and Development of a Robotic Arm for Automated Screw Assembly

This repo outlines the details related to the Assembly Scara Robot project.

Fusion360

The subfolder Fusion360 contains the step files of each component designed for the robotic arm using Fusion 360. It also has the full model, with the file name Robotic_Arm.step.

• Base Structure - base_structure.step
• Link connecting Base Structure and Base Plate - base_link.step
• Base Plate - base_plate.step
• Rods fixed to Base Plate - rod_1.step, rod_2.step, rod_3.step, rod_4.step
• Middle Plate which moves up and down - middle_plate.step
• Top Plate - top_plate.step
• Link connecting Middle Plate and Arm 1 - gripper_link_1.step
• Link connecting Arm 1 and Arm 2 - gripper_link_2.step
• End Effector motor housing and screw driver shaft extension - gripper.step
• Robot Arm full model (no motors/ couplers/ ball bearings) - Robotic_Arm.step
• Conveyor and Sprocket (STL files) - Conveyor v1.stl, sprocket v1.stl

Image

The subfolder Image contains the images backing up the implementation.

• The design of the arm, part highlights from different perspectives - Arm_Design.png
• The circuit diagram including all electronic components - Circuit_Diagram.png
• The assembled circuit - Circuit_Assembly.jpg
• Image of Robot Arm after Assembly, taken in Grid - Robot_Arm.jpg
• Clear image of Robot Arm - Robot_Arm_wo_bg.png
• Trajectory Planning plots (position vs time, velocity vs time, acceleration vs time) - Position_Time.png, Velocity_Time.png, Acceleration_Time.png

Video

The subfolder Video contains the videos backing up the implementation.

• The video of the whole assembly and working of the robot arm - Working_Video.mp4
• Simulation of Robot Arm highlighting horizontal and vertical movements created in Matlab - Matlab_Simulation.mp4
• Trajectory Simulation of Robot Arm created using Matlab - Trajectory_Planning_Simulation.mp4

Code

The subfolder Code contains the code files for our robotic arm implementation and simulations.

• Matlab code file for simulating trajectory and generating corresponding plots - Trajectory_Planning.m
• Arduino code for the working of Robot Arm (uses inverse kinematics) - robot_arm.ino
• Matlab code file for simulating the horizontal and vertical movements - Simulation/simulation.m