Abstract: - A humanoid robotics is a new challenging field. To co-operate with human beings, humanoid robots not only have to feature human like form and structure, but more importantly, they must prepared human like behavior regarding the motion, communication and intelligence. The model number of this beginner is ASR K-250. This paper we consider the mechanism and mechanical structure of ASR K-250 (Beginner) and its implementation.

Keywords: - Degrees of freedom, kinematic structure, ellipsoid, redundancy, elbow pitch, Hardware interface, joint speed

I. SUMMARY

In the field of robotics the beginner can contribute many functional operations in the world. This arm can solve many human’s limitations. Many people cannot move from one place to another place for their limitation but they have needed to move for collect something like mug, jog, and so on. For that they require getting help from other persons. When they use this type of robot they can solve their problem easily without help other person for its easy operation system. For an example when a person has needed to carry an  object from drawing room to bed room he can use this robot. It can move surround also collect photo and other information. When earthquake will be occurred by using these types of robot people can unseat many weight full objects from destroyed area to a safety place.

Introduction:

The application of robotics field is broadly used in the field of research, laboratory based work, industrial work to automate process and reduce the human errors. This paper is describing the design of mechanical structure of a robotic arm. This robotic arm is often indicated to move an object from one place to another place. One kind of example of this application is in an industrial area where need to move a weighable object like tank or container or other object.  The advantage of automated process results is faster  completion time with lowest errors. This paper also describes the implementation of a robotic arm  with  switching controlled. The application of the force controlled function can be seen in the industrial/manufacturing environments.

Overview of the arm:Degrees of freedom: 5Payload capacity: 180gm (Experimentally) Joint speed (approximate):40-60 rpm Hardware interface: 2 pin connector

Base spin: 180 degrees Shoulder base spin: 160 degrees Elbow pitch: 160 degrees Finger opening (Max): 10cm

II. MECHANICAL STRUCTURE

The mechanical design of a robotic arm is based on a robotic manipulator with similar function like a human arm. In order to establish a generalized operating systems and the technological systems for the analysis, design, integration and implementation of a humanoid robotic arm.

For operating DC motor we need DC power supply that’s way we attached an AC to DC converter for getting DC power. This DC power supplies each motor. In this robot arm each and every motor is connected with external gear with external gearbox.

III. CALCULATED TORQUE

Torque means measure of how much force are acting on an object reasons that object to rotate. Torque is denoted by T. Torque (T) is defined as a moving “force” and is calculated using the following equation: T=F*L .. (1)

Where T is torque F means calculated force and L is denoted the length from a pivot point. The force is accelerating on an object due to gravity (g = 9.81m/s2) multiplied by its mass.

F=M*g . (2) Mass (M) and gravity (g)

The force (F) is also considered of an object’s weight (W)

W = M*g.. (3) The torque required to hold a mass at a given distance from a pivot point is showing therefore

T = (M*g)*L (4)

The length L is the perpendicular length from a pivot point to the force. This equation can found by similar doing a torque balance about a point.

Fig. 2 torque balance

∑T = 0 = F*L – T.. (5) Therefore, replacing the force (F) with mass and gravity (m*g) we can find out the same equation above. This is the more accurate way to find out the torque by using the torque balance.