design and construction of a robotic arm

8/6/2019 Design and Construction of a Robotic Arm

http://slidepdf.com/reader/full/design-and-construction-of-a-robotic-arm 1/23

BY: ASAMU ADEMOLA IBRAHIM

TIBI MARVIN EMEKEEZEANOCHIE TOCHUKWU CHINEDUNWABUEZE IFECHUKWU CHIJIOKE

A presentation on«



CONTENT

y INTRODUCTION

y PROBLEM/NEED STATEMENT

y REVIEW OF LITERATURE

y CONCEPTS

yDESIGN ANALYSIS

y CONCLUSION



INTRODUCTION

ECONOMICGROWTH

PRODUCTION RATES

AUTOMATION

INDUSTRIAL ROBOTS AND ROBOTIC ARMS



NEED STATEMENT

y DEVELOPMENT Of ROBOTIC ARM IS NEW TO SUB-SAHARAN AFRICA.

y STUDIES HAVE BEEN LIMITED AND DESIGNS HAVE BEEN FEW .

THEREFORE

y THERE IS A NEED TO ACCOMPLISH MORE IN THIS SECTOR INORDER TO FURTHER IMPROVEMENTS IN THE PRODUCTION

SECTOR.

y THERE IS THE NEED TO DESIGN AND CONSTRUCT A ROBOTIC ARM USING AVAILABLE RESOURCES TO IMPROVE PRODUCTIONSYSTEMS.

PRE AMBLE



NEED STATEMENT

y THE ROBOT ARM SHOULD BE ABLE TO CARRY A LOAD OF AT LEAST0.45kg.

y THE ROBOT ARM SHOULD HAVE AT LEAST TWO DEGREES OFFREEDOM.

y THE ARM SHOULD HAVE AT LEAST A 30cm VERTICAL REACH AND A 40cm HORIZONTAL REACH.

y THE DESIGN SHOULD INCORPORATE A CONTROL SYSTEM.

y THE DESIGN SHOULD BE SUCH THAT THERE IS A SAFE GUARD AGAINSTTIPPING OVER.

SPECIFIC OBJECTIVES



REVIEW OF LITERATURE

y THE ARM

y THE WRIST

y THE GRIPPER

MANIPULATOR GEOMETRIES




ARM(3DOF) WRIST(3DOF) GRIPPER

POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)

1 CARTESIAN

2 CYLINDRICAL

3 POLAR/CYLINDRICAL




ARM CARTESIAN





ARM CYLINDRICAL





ARM POLAR/SPHERICAL





WRSIT





GRIPPERS




CONCEPTS

THE CONCEPTS WERE GENERATED BASED ON

y MANIPULATOR GEOMETRIES

y TYPES OF MOTORS

y TYPE OF MOTION INTERPOLATION

BASED ON THE PROJECT TOPIC ALL THE CONCEPTS MUST HAVE

AT LEAST TWO DEGREES OF FREEDOM

PREAMBLE



CONCEPTS

CONCEPT 1



CONCEPTS

CONCEPT 2



CONCEPTS

CONCEPT 3



CONCEPTS

CONCEPT EVALUATION

y WORK VOLUME CAPACITY

y MANUFACTURABILITY

y AESTHETICS

y WEIGHT CARRYING CAPACITY



CONCEPTS

CONCEPT EVALUATION MATRIX

WORK VOLUME

weight(0.4)

MANUFACTURABILITY

weight(0.3)

WEIGHT CARRYING

CAPACITY

weight(0.2)

AESTHETICS

weight(0.1)

TOTAL

CONCEPT

1

LARGE

COVERAGE EASY

MODERATE

CAPACITY BEAUTIFUL 4.0

4 X 0.4 = 1.6 4 X 0.3 = 1.2 4 X 0.2 = 0.8 4 X 0.1 = 0.4

2

VERY LARGE

COVERAGE DIFFICULT

MODERATE

CAPACITY BEAUTIFUL 3.8

5 X 0.4 = 2.0 2 X 0.3 = 0.6 4 X 0.2 = 0.8 4 X 0.1 = 0.4

3

LARGE

COVERAGE EASY

MODERATE

CAPACITY

FAIRLY

BEAUTIFUL 3.9

4 X 0.4 = 1.6 4 X 0.3 = 1.2 4 X 0.2 = 0.8 3 X 0.1 = 0.3



DESIGN ANALYSIS

MOTOR SPECIFICATIONS Ö GRIPPER MOTOR

ASSUMPTIONS:

y THE GRIPPER WAS DESIGNED FROM CAST ALUMINUM AND THE WORK PIECE WAS TO BE MADE OF STEEL

y COEFFICIENT OF FRICTION BETWEEN THE TWO MATERIALS IS 0.6

y THE GRIPPER ACTUATING SCREW HAS A PITCH RADIUS OF 6mm

SELECTION:

y RECM 343/3 MOTOR

y CONTINUOUS HOLDING TORQUE OF 0.16 N-m

y MASS OF 0.35 kg



DESIGN ANALYSIS

MOTOR SPECIFICATIONS Ö GRIPPER MOTOR



DESIGN ANALYSIS

MOTOR SPECIFICATIONS Ö LINEAR TRANSLATION MOTOR

ASSUMPTIONS:

y THE WEIGHT OF THE ARM AS SEEN BY LEAD SCREW IS 31.2N (USING IRONCAD)

y COEFFICIENT OF FRICTION BETWEEN THE TWO MATERIALS IS 0.6

y

ACME SCREW THREAD WITH NOMINAL DIAMETER OF 34mm AND A PITCH OF6mm

SELECTION:

y RECM 375/4 MOTOR

y

CONTINUOUS HOLDING TORQUE OF 0.88 N-m

y MASS OF 1.7 kg



DESIGN ANALYSIS

MOTOR SPECIFICATIONS Ö LINEAR TRANSLATION MOTOR



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