Sensing Human Arm Movements

Abstract

The report documents the conceptualization, design, fabrication, and control of three degrees of freedom articulated robotic wrist by means of design and analysis followed by manufacturing specifically to a particular work envelope and payload. The motivation for this project is to create a generalized robotic wrist for educational purposes at the Institute which will contribute to acquiring a deeper understanding of theories of robots and at the same time enable research in various applications of robotic manipulators. The designs are executed through Solid works. Manufacturing was carried out by importing designs via the drawing exchange format onto laser-cutting machines and CNC machining. Programming was implemented through Arduino microcontroller using C language. The final prototype will validate and establish the capability of the robotic wrist. It will serve as a research platform for extended functionality by adding and improving existing software environments and hardware devices.