3 DOF Robotic Arm with Soft Robotics Manipulator
FAMS Lab, NYU Tandon School of Engineering
Project Overview
This project was developed in the Flexible AI Enabled Mechatronics Systems (FAMS) Lab at NYU Tandon School of Engineering. Our multi-talented team collaborated to design and build a 3 Degree-of-Freedom (DOF) robotic arm equipped with a soft robotics manipulator featuring three flexible fingers. The goal was to create a versatile robotic platform capable of safe and adaptive grasping for a variety of objects.
Team Contributions & My Role
Team Collaboration
- Worked with a diverse team of engineers and researchers specializing in robotics, electronics, and AI.
- Combined expertise in mechanical design, embedded systems, and soft robotics.
My Responsibilities
- Designed the mechanical structure of the 3 DOF robotic arm using CAD tools.
- Selected and integrated motors and sensors for precise joint control.
- Developed embedded code for motor actuation and sensor feedback.
- Integrated hardware and software for seamless operation of the arm and soft manipulator.
Custom-designed robotic arm featuring three flexible soft fingers for adaptive grasping.
Design & Implementation Highlights
Mechanical Design
- Lightweight and modular arm structure for easy assembly and maintenance.
- Soft manipulator fingers fabricated using silicone and pneumatic actuation for safe interaction.
Electronics & Control
- DC motors and position sensors for accurate joint movement.
- Custom PCB for motor driver and sensor integration.
- Embedded firmware for coordinated multi-joint control and soft finger actuation.
Soft Robotics Manipulator
- Three soft fingers capable of conforming to various object shapes.
- Pneumatic control for variable grip strength and gentle handling.
Key Outcomes
Functional Prototype
Successfully built and tested a working 3 DOF robotic arm with soft manipulator.
Adaptive Grasping
Soft fingers demonstrated safe and adaptive grasping of delicate and irregular objects.
Integrated System
Seamless integration of mechanical, electronic, and software components for reliable operation.
Impact & Future Work
Research Platform
Provides a flexible platform for future research in soft robotics and AI-enabled manipulation.
Safe Human-Robot Interaction
Soft manipulator design enables safe interaction with humans and fragile objects.
Expandability
Modular design allows for easy upgrades and experimentation with new control algorithms.
Next Steps
- Implement advanced AI-based control for autonomous grasping and manipulation.
- Integrate vision sensors for object detection and pose estimation.
- Test and validate in real-world scenarios and collaborative tasks.
Conclusion
The 3 DOF robotic arm with soft robotics manipulator developed in the FAMS Lab at NYU Tandon demonstrates the power of interdisciplinary collaboration in robotics. By combining mechanical design, electronics, and embedded programming, our team created a functional and adaptable robotic platform. The project lays the groundwork for future research in safe, flexible, and intelligent robotic manipulation.