IndexMechanismArmYaw-Pitch-RollGripperStress AnalysisManufacturingRUDRA ROBOTICS is working on Mars rovers and robotic arm for the past 7 years. The rudra Srm Robotics Rover team searches for the best place to collect the soil sample and does the research and testing of the Martian soil for the amount of moisture, temperature and pH. The rover is capable of performing so many tasks that will help astronauts such as accumulating instruments and objects via the rover and deploying them at the given coordinates. The robotic arm is assembled on the mobile rover and YPR (yaw, pitch and roll) is assembled on the arm together with the mechanical gripper attached to it. During the research and development phase, the team focused on designing an arm that was efficient and simple and could also be used in industry and succeeded in doing so. Say no to plagiarism. Get a tailor-made essay on "Why Violent Video Games Shouldn't Be Banned"? Get an Original Essay Mechanism The mechanism of this robotic arm is a four-bar mechanism that allows the arm to orient the gripper parallel to the surface. The arm is a connection of two parallelograms so that with minimal actuation of the electronic actuators, maximum actuation of the end effector is achieved. The arm has a separate compact mechanism that provides YAW, PITCH and ROLL movements, giving six degrees of freedom to the arm. The arm is capable of rotating an angle greater than 360ᵒ around the fixed vertical axis. The gripper is a screw mechanism that converts the rotary movement of the actuator into a linear movement of a lead screw and subsequently into a parallel movement of the two lead screw claws. The entire arm uses 7 electric actuators, 5 rotary and 2 linear. Heavy tools on the arm are placed close to the equipment so as to avoid stress on the arm due to its own weight and also keep the center of gravity of the arm close to the arm's rotation axis. Arm The robotic arm is mounted on a turntable consisting of an external module 2 gear and connecting devices. The rotary table rotates in a radial bearing to counteract both the axial and radial load of the arm. The two links of the arm are connected to each other using shafts and a mounting plate, two parallelograms are formed from both links. The effective length of the 1st link is 500 mm and that of the 2nd link is 350 mm. The four-bar arm mechanism allows the gripper to perform tasks easily. One actuator is mounted on the rotary table while the other is mounted on the first link. The first actuator provides activation to the first link and the 2nd actuator provides activation to the second link. Both actuators have a stroke length of 100 mm. Yaw-Pitch-Roll The YPR is compact and made of materials such as aluminum and nylon MC (MC901) driven via three servo motors. Servo motors are better suited to this arm in terms of torque handling, precision and light weight than other comparable precision motors. One servo is used with a gear ratio of 1:6 which is responsible for the yaw movement of the caliper and the other two motors with a gear ratio of 1:3 are responsible for the pitch and roll movement. The complete YPR system is bolted onto a 1:6 servo motor gear which provides 180ᵒ rotation to the YPR system which acts as the yaw of the end effector. This servo can also give roll to the gripper when pointing down to lift heavy objects and rotating them. The group includes two gears.