Development and control of an egg throwing and catching robot | |
| Author | Nguyen Dinh Tai |
| Call Number | AIT Caps. Proj. no.ME-18-01 |
| Subject(s) | Robots--Control systems Robotics |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-18-01 |
| Abstract | Egg's shell has a very sensitive structure that can be damaged easily due to just a small ex- ternal force. If the egg falls freely onto a hard surface with Earth's gravity from only a few centimeters, the shell will break due to collision. In order to not break the fragile shell of the egg while catching, an interesting way is to control the speed of catching mechanism by studying human hand movement during catching an object. The observation shows that in catching process, by aligning the speed of the hand with the incoming object as an egg, the egg shell does not break after contact. Therefore, a one degree-of-freedom robot system is developed to demonstrate the feasibility of speed control of a robot in throwing and catching a raw egg vertically with respect to Earth's surface. Applying the standard error correc- tion Proportional-Integral-Derivative (PID) control algorithm using feedback signals from a rotary encoder for controlling actuator's speed, the robot manages to minimize the relative speed between the egg while falling and the robot's actuator in collision. The soft-impact using dynamical control is successfully demonstrated so the egg shell is intact after freely falling 10 centimeters. The application of soft-impact concept can be applied into point- to-point transportation system in order to replace traditional transportation systems such as conveyor belts, wheel systems, aircraft, helicopters and so on. Besides, dynamical control of human actions using robot also relates to soft-impact technology in terms of internal joints control or object handling. |
| Year | 2018 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-18-01 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Bohez, Erik ;Song, Weon Keun; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2018 |