Color sorting is the phenomenon for sorting and analyzing different colors of an object and thereby picking and placing the objects at its desired location, thus enhancing efficiency and minimizing human errors in performing a certain task.
In this contribution, it presents a mechatronics application for automatic color recognition and sorting process performed by the robotic arm. Keywords: Forward Kinematics, Hexapod Robot, Inverse Kinematics, Locomotion, Six-Legged Copyright © 2020 Praise Worthy Prize S.r.l. It is tested on different types of terrains, namely, smooth and rough terrains, and the results are promising in each case. Experimental results for the robot motion show smooth motion for the robot. In addition, an experimental prototype setup is built and tested.
The robot is designed using CAD software and a simulation is carried out in order to validate the inverse and forward kinematics results. Inverse and forward kinematics are studied to produce a mathematical model for the motion of the legs based on a predefined trajectory for the end effector of each leg. The amount of rotation for each servo motor is controlled by an Arduino microcontroller boards. Each leg will have three links known as the coxa, the femur and the tibia, resulting in 3 joints and consequently 3 DOF for each leg powered by 3 DC servo motors. This robot contains six legs attached to a main body known as the trunk. In this article, and the design and the implementation of a hexapod robot with 18 DOF is presented. On the other hand, legged robots are far superior when it comes to rough terrains and environments that contain many obstacles, which is the case of many real-life situations. Wheeled robots can be very fast and stable when moving on smooth terrain. Mobile robots and their motion control are two of the challenging and active research areas nowadays. This indicates that the operator sensor is used to detect the force and torque that the space operator’s edge operator experiences when it interacts with the external environment and provides the necessary power sensing information for power control and compatible operator motion control, completing some complex the Fine project is an important prerequisite for realizing the intelligence of space operators. Experiments show that the maximum coupling error of the sensor is 1.81%, which is less than 2% of the design index. Secondly, in order to study the influence of the temperature change in the space environment on the zero-point output of the mechanical arm sensor, a high and low temperature test box are used to simulate the temperature brought by the temperature change to the sensor. This paper conducts an output voltage experiment on the static performance and coupling error of the mechanical arm wrist force sensor. In this paper, a basic force analysis of the manipulator is carried out, and the change trend of the force and driving force of each joint when the manipulator is grasping objects is obtained, so as to determine that the manipulator can grasp the object stably then, in the strength analysis of the manipulator, it is determined that the material meets the strength requirements. The holding structure has poor flexibility and stability, making it difficult to achieve precise position capture and control and cannot meet the requirements of delicate tasks. Although the level of development of the operator is constantly improving, the traditional operator has a simple structure and generally adopts parallel movement or tightening. The accuracy and flexibility of the operator determine the operating efficiency of the robot. With the rapid development of mechatronics and robotics technology, the application of robots has been extended from the industrial field to daily life and has become an indispensable part of work and daily life.