A.R.A. - acronym for Anthropomorphic Robotic Arm aims at implementing a collaborative robot environment for various industrial automation process. A 3D printed humanoid arm(with 5 DOF) is attached to the ABB IRB 1600 ID industrial robot to improve its dexterity and manupulation abilities. Actuation of robotic fingers is achieved using servomotors controlled using an Arduino Uno microcontroller which is interfaced to the ABB IRC5 controller via a custom designed step-down voltage regulator circuit board.

Fig.1 Object grasping and manipulation.

This project was carried out during my tenure at ABB Robotics Motion Division, Peenya Industrial area, Bangalore (2017). I primarily worked on the design & fabrication aspects of the 3-D printed humanoid arm, more specifically the servo-motor bed & finger grippers. My other significant contributions involved developing the virtual platform of the robot using ABB RobotStudio for trajectory planning for the robotic arm (in simulation and real-time). Was also involved in the electrical interfacing of the arduino micro-controller to the IRC5 controller via the custom build step-down regulator.

Project details Video