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master -slave robotic arm

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alaa ali

on 3 April 2015

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Transcript of master -slave robotic arm

Master-Slave robotic Arm For Surgical Appliance
Introduction to the project
Master-Slave Robotic Arm ِAccording To Mechatronics.
Why ?
History of robotics
Word robot was coined by a Czech novelist Karel Capek in a 1921 play titled Rassum’s Universal Robots (RUR)
Robot in Czech is a word for worker or servant
Robotic surgery
The word Mechatronics is fused from two words “Mechanics” and “Electronics”
Mechatronics Graphical Representation
Mechatronics Design Process
Block Diagram To Our Project
Mechanical Components
Our Design On Solidworks
Symbolic representation of robot joints
Schematic of three revolute joints

Schematic of two revolute and one prismatic joints

Shape of Structure
Shape of Structure
Degree of Freedom
Degree of Freedom
Degree of Freedom
Power Transmission Devices
Belt Driver
Chain Driver
Gears Driver
Power Transmission Devices
Power Transmission Devices
Electrical Components
AC motors
Stepper motors
Servo motor
A potentiometer, is a three-terminal resistor with a sliding contact that forms an adjustable voltage divider.
An accelerometer is an electromechanical device that will measure acceleration forces.
Mechatronics Objectives
Control of
Robotic Arm

What Is Arduino?
Arduino is a single-board microcontroller to make using electronics in multidisciplinary projects more accessible
The hardware consists of an
hardware board.
What Is Meant By Open Source?
History Of Arduino
Type Of Arduino Boards
Arduino Program
For Sweep
The capacitor acts as a reservoir of electricity for the motor to use, so that when it starts, it takes charge from the capacitor as well as the Arduino supply
For Knob
Robotics has become recently an interesting area of research. In this thesis, we study the robot manipulator from two sides: modelling and control.
First of all we deeply thank ALLAH the main source of knowledge and wisdom.
and we thank our teachers for what they gave us from their knowledge , time and effort .
We specially introduce our deep thanks to:
Prof. Dr. Eng.: Mohamed Ryad El-Gazy.
For helping us in this Project, supplying us with helpful guidance, also we owe with thanks for
Eng.: Mahmoud Magdy
who helps us in the Project achievements.
This Project
Supervised By
Prof. DR/Mohamed Ryed Gazy
Team Work
1-Seham Gamal Abdelwadood
2-Shereif Moneer Hassan
3-Abdelrahman Mohamed Mahmoud
4-Alaa Ali Ali Elsayed Gaballah
5-Amr Ibraheim Ahmed
6-Kareem Hassan Moustafa
Design of links

Robotics kinematics
Robot kinematics is the study of the motion (kinematics) of robots. In a kinematic analysis the position, velocity and acceleration of all the links are calculated without considering the forces that cause this motion.

Forward Kinematics
The forward kinematic equations, describe the functional relationship between the joint variables and the position and orientation of the end-effector.

Setup the USB driver
Control circuit
Pulse width modulation is a scheme that has two important uses Control power (at 100% efficiency) Send information or generate control signals

Pulse Width Modulation Basics
Pulse width modulation 10% duty
The future of robotics in manufacturing and assembly
fundamental laws of robots as follows:-

1- A robot may not injure a human being or, through inaction, allow a human being to come to harm.

2- A robot must obey the orders given to it by human beings, except where such orders would conflict with the first law.

3- A robot must protect its own existence as long as such protection does not conflict with the first and second laws.
Conventional minimal invasive surgery

MIS with master-slave robotics
Advantages of these systems

1- Motion and force scaling can be used to obtain an increased precision.

2- A master-slave setup can result in a more ergonomic operating environment. This results in less fatigue and hand-tremor. Remaining tremor can be filtered away by
software filters.

 3-New procedures that would otherwise be impossible to perform due to human limitations are now within reach.
The major disadvantages of MIS robotics are

1- Although the surgeon performs the operation in a more ergonomic position, the freedom
of motion is often still too limited.

2-Medical robots are very expensive, and surgeons need to undergo much training
before being able to operate the robots correctly.

3-Force feedback at the master is still not implemented.
Human Operator
In order to construct a device to communicate the sensation of remote touch to a local human operator, it is very important to understand human sensory.
Human sensory system
1-Kinesthetic sensing

2-Cutaneous sensing
Force level and bandwidth
a single finger can bear a force of up to 7 N without experiencing discomfort or fatigue, while a force level of 30 to 50 N is the absolute maximum.
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