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Department of Aerospace Engineering

MTech - Structures & Design


Batch 8
Id No Name
SC17M034 Girish Kumar S
SC17M035 P Jayaprakash
SC17M037 Vignesh K C
SC17M038 Nobil Vincent
SC17M039 A Sree Kumar

AE832: Introduction to Robotics


Lab: Round 2 Experiments
Experiment 4: MTAB Aristo Robot

Subject: Batch 8, MTAB Aristo Robot

Objective

1. Learn how to operate the robot safely, and how to program it.
2. Generate a program to perform a ball pick up and place task.
3. Calculate the precision of the robot.

Experiment Report

1. Brief description of MTAB Aristo


MTAB Aristo is an articulated robot with 6 rotary joints or 6 axes of freedom. The associated
links are listed below.
i. Base: It is the lowest supporting structure of the robot and is attached with the
ground through a rotary joint.
ii. Shoulder: It is the link directly attached to the basethrough the second rotary joint
and is actuated using a screw joint.
iii. Elbow: It is the link attached to the shoulder through the third rotary joint and is
actuated using a secondary screw joint.
iv. Roll 1: It is the link attached to the elbow through a rotary joint and generates a roll
motion.
v. Pitch: This link helps in the pitching movement of the gripper, with the help of the
rotary joint with which it is attached to the Roll 1 axis.
vi. Roll 2: This part helps in the roll movement of the gripper and is attached to the
pitch.
In addition to the above, the gripper attached to the roll can perform the Open/Close action
to enable gripping of the job to be handled.
The details of the actuators and transmissions used for link movement are provided in table
below.

Axis Transmission Motors Gear


system ratio
Axis Transmission Motors Gear
system ratio
Base Gear drive A1-12V DC Servo motor with encoder (Pittman) 19.7.1
Shoulder Ball screw A2-12V DC Servo motor with encoder (Pittman) 19.7.1
Elbow Ball screw A3-12V DC Servo motor with encoder (Pittman) 19.7.1
Roll 1 Belt drive A4-12V DC Servo motor with encoder (Pittman) 218.4.1
Pitch Belt drive A5-12V DC Servo motor with encoder (Pittman) 218.4.1
Roll 2 Belt drive A6-12V DC Servo motor with encoder (Pittman) 60.5.1

2. Coordinate system and D-H parameters


A detailed sketch of the model is provided inFigure-1 showing the parts, joints and
dimensions.The origin and directions of the global coordinate system is also provided in the
figure.
Skeletal diagram of the robot is given below along with the D-H parameters. The D-H
parameters to obtain the ith coordinate system from (i-1)th coordinate system is named as di,
ai, αi and θi. Anti-clockwise direction is taken as +ve in the convention for rotation.
378.5
X5,Z6 X3,X4
Y5,X6 Y3
O5,Z5, O3,Z3, Z4
O6,Y6 O4,Y4

300
Y2

X2
Z2,O2
158

Z1
X1
O1, Y1
D-H Parameters
i d (mm) Θ (Degree) a (mm) α (Degree)
1 - - - -
2 158 0 0 90
3 0 90 300 0
4 0 0 0 -90
5 -378.5 0 0 -90
6 0 90 0 90
Figure 1: Schematic diagram of MTAB Aristo Adams Model
Revolute joint about X-Axis
Revolute joint about Z-Axis Revolute joint
378.5 150
about Z-Axis
Translational joint along Y-Axis Roll 1
Pitch Elbow

64 Link for Elbow


Roll 2 Revolute actuation
joint about
Y-Axis
300
Link for Gripper
actuation Translational joint along Y-Axis
Shoulder
Gripper Arms
Revolute joint
Revolute joint about Z-Axis Link for Shoulder
about Z-Axis 158 actuation
Translational joint along Y-Axis
Base
Revolute joint about Y-Axis

184
Base
Y Support
Fixed to the ground

Z X
3. Program
The following program was generated to carry out the assigned tasks.

Tracing circular path


HOME ALL
CIRCLE_MID X +047.35 Y +401.14 Z +376.73W -98.26 P -2.30 R 170.97
CIRCLE_END X +141.09 Y +407.82 Z +372.28 W -109.99 P -2.51 R 174.38

Tracing a spline
HOME ALL
START_SPLINE
SLINEAR X +049.49 Y +391.20 Z +393.42 W -97.43 P 0.02 R 180.09
SLINEAR X +010.66 Y +392.42 Z +383.85 W -92.45 P -1.47 R 175.98
END_SPLINE

4. Precision calculation
Ideally, the precision measurement is to be carried out for each joint for its respective input
variables, the aggregate of which would give the overall precision of the robot. However,
due to the limitation of external measurement of the position along the z-axis perpendicular
to the floor, it was decided to simultaneously move all the joints and measure the overall
precision from the coordinates of the end position achieved.
A program was generated to execute the task repeatedly and the final positions of the
gripper was marked each time on a paper placed on the floor (x-y plane) to obtain the
coordinates. Six such readings were taken and the repeatability of the position was
calculated as shown below.
Repeatability of position, RPP = lm + 3*Sl
Where
Mean position error, lm = ∑ 𝑙

Position, lj = 𝑥 −𝑥 + 𝑦 −𝑦 , where 𝑥 𝑎𝑛𝑑 𝑦 are mean values of x


and y position coordinates.
∑ ( )
Standard deviation, Sl =
The raw data collected in the experiment is provided in table below.
Attempt no X (mm) Y (mm)
1 0 0
2 2 1
3 3 1.5
4 2 2
5 2.5 1.5
6 2.5 1.5

Here, the position coordinates of the position obtained in the first attempt was taken as the
origin, and the remaining position coordinates were measured with respect to the so
obtained origin.
The repeatability of position obtained from the above raw data is
RPP= 0.918± 3 * 0.75
However, the following limitations and assumptions are to be noted for the above
experiment carried out.
o The paper used for marking the end position was assumed to be stationary and not
moving.
o Errors due to flexibility of the paper was neglected.
o Errors due to the size of pen nib point used for marking the end position was
neglected.
o The least count of the scale used for position coordinate measurement was 1mm.
Hence, any point lying within the 1mm range was assumed to be 0.5mm.
o The position coordinates were measured manually. Hence, any manual errors in
measurement was also neglected.
5. Conclusion

The safe operation of the robot was learned and a program was generated to carry out the
assigned tasks, which was successfully demonstrated. Precision of the robot was also
measured though with the practical limitations point out in the report.