This project is aimed at developing a simple solution to switch on and off, existing rotary and flip switches using a single link robot arm whose joints can be taught to perform the operation and can remember these motions to perform these tasks later. This solution can be used in every house hold to actuate simple automation tasks remotely or based on fixed timing.
The arms are fixed onto the motors in the configuration shown in the image attached with motors fixed on each link using motor C-couplers. The 3D printed manipulator is fixed on to the tool center point of the robot using fastened C-couplers. The sensor is mounted on the manipulator. The mototrs are controlled using the TAPAS boards which recieve commands from the Raspberry pi or Arduino.
This combination is then calibrated to find its Denevit Hartenberg parameters that can be used to control the robot in 2DoF (Degrees of Freedom).
Laser sensors can be used to localize the robotic arm with respect to the switch when fixed on a wall. The configurations can be taught by the user and thus the robot can return to these positions easily by finding its position in the localized coordinate system measured during the teaching phase.
The Tapas can be used to perform force control on the manipulator using current based force estimation techniques.
Team members : 3 (including me).
TAPAS boards required: 1 (force control + motor control)
this idea will get one TAPAS dev kit