Team Markhor

DESIGN & MANUFACTURING OF 2 DOF L-JOINT UNIVERSAL ACTUATOR USING HARMONIC STRAIN DRIVE. This article presents the equipment plan and software algorithms of a 2 Degree of freedom joint actuator using a harmonic drive. An L-shaped joint will be designed with two actuators assembled perpendicularly to each other that will provide us with 2 DOF mobility. The purpose of using the harmonic drive is to achieve zero backlashes, high-capacity output bearing, high torque capacity, excellent positioning accuracy and repeatability, compact design, high efficiency, simple installation, and assembly. High speed and accurate actuation are achieved by using brushless DC motor so we will be using servo motors, as they are fast and precise. We will be controlling our joint by using Mach 3 controller and a Graphical User Interface (GUI) will be developed to control the motor. The project will be blocks based i.e., 1 block will add 1 DOF to the project and the joint (2nd block) with the second block will output the 2nd DOF and so on. The basic idea is having the block-based structures to achieve additional DOF motion by adding additional blocks. The diameter of each block will remain the same, but the length of each block will be defined according to the task it has to perform. The project will eventually lead to an industrial-grade manipulator. In phase one, only 2 DOF links are being designed which can be replicated to make a multi-DOF robot.

They communicate openly with each other, sharing their thoughts, opinions, and ideas with members of their team; as well as taking into consideration what others have to say. Communication is essential for keeping track of progress and working together efficiently on tasks. Poor communication can lead to crossed wires, which can mean work is left incomplete/incorrect or conflicts can arise. They agree on and set team goals based on outcomes and results, rather than just on the amount of work being done. A clear plan can then be set about how they are going to achieve these objectives, as a group, as well as each individual’s contribution. This provides them with clear direction and gives them something to aim for collectively. my team also participated in national and international events and secured position in those events. We Took the Second position in China Agricultural Robotic competition 2019 that held in Qingdao , China and we also secured First place in National Engineering Robotics Competition 2019.