Designing, Modelling & Control of 5-Dof Light-weight Robot Arm for Aerial Manipulation - Career Episode 1

COMPETENCY
DEMONSTRATION REPORT
Career Episode 1

CE 1.1 Project Information
Name of the project: Designing, modelling & control of 5-Dof light-weight robot arm
for Aerial manipulation
Location of the project: [PLEASE FILL]
Project Duration: [PLEASE FILL]
Organization: [PLEASE FILL]
Role and Designation during the time: Team Leader
CE 1.2 Project Background
CE 1.2.1 Characteristics of the project
I proposed the design, modelling and control of the 5 degrees- of – freedom light- weight
robot manipulator that can hold objects of certain specified weights. I named the proposed arm as
PUL5AR (Prisma Ultra-Light-weight 5 ARm) in manner to execute the manipulation of the tasks
furnished on the board of the lading and vertical take – off unmanned aerial vehicle. I kept the
proposed model light and compact in manner to keep it portable and applicable wherever the
industries want to use it. I considered the military and civil sectors where UAVs (Unmanned
Aerial Vehicles) are being most applicable and proposed a manipulated model that is much
efficient and effective. The project needed a group of team members who have well
understanding on the facts relate to the design and application of the robotic arms.

CE 1.2.2 Objectives developed for the project
I developed the following objects in manner to take in account that every team member
will follow the following objectives in manner to be focused and concentric towards
accomplishing the final goals of the project:
To design, model and control a 5 degrees – of – freedom light – weight robot manipulator
To manipulate the existing mechanism of the robotic arms
To validate dynamic model and control schemes
To keep the project compact and light – weight
To accomplish the project within the specified timeline
To deliver the productive project
CE 1.2.3 My area of work
I investigated the various tasks involved while executing the project that includes
inspection, guarding or remote sensing and the passive interaction with the environment. I
analysed that the kinematic coupling between the UAV altitude and the manipulator motion are
the major issues associated with the application of the previous models of robotic arms. I
managed to eliminate these problems through manipulating the existing design through
designing of the differential joint at the base of the robotic arm. I relocated the motors at the base
of the arm that was helpful in destabilizing the effect on the UAV attitude raising because of the
static torque occurring through the COGs misalignment has been minimized. I manipulated the
folding design mechanics of the robotic arm through allowing the robot to be capable of moving
in five directions.

CE 1.2.4 Project Group
CE 1.2.5 My responsibilities throughout the project
I was responsible for analysing the existing model of the robotic arms and recognize the
sectors those have been influencing the effectiveness and efficiency of the robotic arms. I
managed the entire team’s role and responsibilities along with the regular project documentation
and monitoring that was helpful in keeping them motivated towards accomplishing the objectives
and goals of the project. I implemented the application of the aerial manipulation with UAV
endowed with the robotic arm in manner to develop the new design mechanics for the PUL5AR.
I had to manage the dimension and weight of the robotic arm and so adopted the following
specifications in manner to achieve the respective objective related to the size and weight:
 Arm weight / payload: 250 g / 200 g.