RAPPORT TIPE

Theme

Since industry automation, robotic arms are widely used to reduce workers’ workload while maintaining productivity and quality. They are particularly used for warehouse management or in the automobile industry for load handling [1]. Its mobility, which makes it very convenient, is based on the use of pivot joints and/or ball-and-socket joints that allow long reach distances and a stroke of up to 360°. These arms can be operated mechanically, i.e. by the movement of the operator, or fully automated thanks to their programming. In our study, the robotic arm is converted into a scribing arm; it exploits only the mobility of the system and not the gripping tools.

The aim is to take the robotic arm out of the industrial setting with which it is associated to integrate it into personal assistance. The reasons that led us to carry out this project are the various disabilities that cause the inability to write, for example, paralysis, Parkinson's disease, autism, etc. [2].

The study of our arm includes a functional model of the arm. It consists of three pivots oriented along two different axes reproducing the movement of the human arm. The links are motorized using several SG90 9g Servo Motors [3] controlled using an Arduino board and its programming software [4]. The purpose of the scribing arm is to transcribe on paper with a pen, the desired text, which is written digitally, using the keyboard, into the Arduino console.

The rest of our study is focused on a complete dynamic study of the system to measure the effort to be put on the pen then we will determine the deviations and errors of the system from the input set point in order to determine the limits of our model. The objective of this project will therefore focus on the study and manipulation of an arm, making it as conducive as possible to the desired services.

Problem

The scriber arm must be very precise to be able to legibly transcribe the text entered by the user on the computer while respecting the limitations due to the equipment. It must also be easy to use in order to best serve the user.

I propose myself: (i) to carry out the physical assembly of the system and to program it, (ii) to carry out the complete dynamic study of the system, (iii) to check the performances of the model and to measure the errors.

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