Aim
How can technology be used to contrive a movement device which comes as close as possible to the human anatomical structure in terms of overall design and sensation. We present an anthropomimetic robotic arm. The arm has the ability to replicate the human motion precisely and have tactile senses.
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Advantages over Industrial Robotic Arms
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Literature Survey
Muscles Study:
Muscles Selection:
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Anatomical Study:
Pneumatic Muscles:
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Robot Design
Skeletal Design:
Our basic skeleton for the robot is as per the human anatomy. Humans have 28 bones in the their skeleton. We will be using all of these (Note: Carpals are replaced by a palm). The structure has one bone in the arm, two bones in forearm and bones representing carpals and metacarpals in hands. Bones in shoulder girdle are provided in design for the motion of robotic arm at shoulder. Ball socket shape is used at the shoulder to provide motion in two DOFs. The skeleton will be fabricated using SLS 3D printing technology. |
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Graphene Characterization
Graphene Resistance characterisation is done to understand the variation in resistance and to find resistivity with respect to following properties:
Procedure: Various samples of Graphene of varying length are printed keeping area constant. Resistances of each sample is noted. Same has been done with samples of varying area with length constant. Repetitive measurements are taken to find out the resistivity of the Graphene and its contact resistances. Equations have been found out for the resistances of 3D printed Graphene. |
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Strain Sensor
Aim:
The sensor is developed for the artificial robotics arm to detect its joint position and also is used as the cheapest strain sensor. Principle: This is basically a 3d printed graphene sensor which maps the strain given to the sensor into the voltage. It happens due to the resistivity of the graphene. After applying strain, there will be change in length of graphene and this changes the resistance value of sensor and results into voltage output. Applications:
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