C. Wu, J. Kim, D. Magluyan, D.K. Kindred, Y. Zhou, N. Cao, H. Zhao, Z. Kuang, T. Kidd, S. Dobbs, Z. Yu
California State Polytechnic University, Pomona,
Keywords: robotics, graphene, supercapacitor
Summary:Robotics is a field that seeks to use more precise and accurate mechanical manipulation to improve the speed, efficiency, and safety of certain tasks where human actions would be more of a liability than a benefit. The goal is to take a currently existing robotic arm, which can successfully move and place objects for the goal of assembling a graphene supercapacitor, and add implementations that would further automate and improve the efficiency of the process [1-2]. One desire is to have the robot run on the Jetson TX2 instead of on the personal computer of a group member, which would move the project approach towards full automation and separation from human operation. Another desire to incorporate the OpenCR1.0 development board (from ROBOTIS Inc.) for the purpose of allowing for the automatic handling of inverse kinematics calculations, reducing the burden on the project members and allowing for more efficient automation. Currently, the system still uses hardcoded forward kinematics for some aspects of the arm’s movement, which adds additional complexity and difficulty in troubleshooting to the project. The final goal is to modify the arm’s end-effector so that it can pick up and transport the supercapacitor components . The overall goal is to increase separation from human operation of the project so that it can increase its efficiency and efficacy. The hope is to see the completion of significant progress towards these goals by the middle to end of May of 2020. The whole system in robotic arm was consisted of one Robotics Open Manipulator Link, one Logitech C920 camera, one air pump motor, one plastic pipe, three Dynamixel XM430-W350 robotic arm actuators, one Arduino Mega board, one U2D2 serial communication device and a personal computer. Show in Figure 1 below. The match cut technique of movie editing will be used to show a scene with a task performed by a human being in contrast with a similar scene with the same task performed by the robot. This will enhance the audience understanding of this robotics project.