The multiple-function intelligent robotic arms

Abstract

This paper details the design, production, and programming methodology of a multiple-function robotic arm. All of the hardware and software of this robotic arm were designed and produced by the authors. This robotic arm won the championship of the first competition of HIWIN intelligent robotic arms on Aug. 22, 2008 in Taiwan. The main design goal of this robotic arm was to present the following functions: fancy dancing, weight lifting, Chinese calligraphy, and color classification. Another design goal was to minimize cost and maximize performance. On the other hand, a set of the robotic arms are also applied to show martial arts and play the rock-scissors-paper game with modifying and mimetic hands. The characteristics of the robotic arms include: 1. The shoulder of robotic arm includes a pair of motor structures to enhance the ability to life weight. 2. The stability and accurateness of the robotic arm are optimized for the requirement of high performance throughout the whole structural design. 3. In order to increase the moving ability of the robot, the robotic arm was designed with a four-wheeled transmission structure and track. 4. Two mimetic robotic arms work in concert to present the fancy shows. 5. Five kinds of machine hands were designed to meet the requirements of the six appointed functions.