design and construction of a robotic arm
TRANSCRIPT
8/6/2019 Design and Construction of a Robotic Arm
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BY: ASAMU ADEMOLA IBRAHIM
TIBI MARVIN EMEKEEZEANOCHIE TOCHUKWU CHINEDUNWABUEZE IFECHUKWU CHIJIOKE
A presentation on«
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CONTENT
y INTRODUCTION
y PROBLEM/NEED STATEMENT
y REVIEW OF LITERATURE
y CONCEPTS
yDESIGN ANALYSIS
y CONCLUSION
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INTRODUCTION
ECONOMICGROWTH
PRODUCTION RATES
AUTOMATION
INDUSTRIAL ROBOTS AND ROBOTIC ARMS
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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
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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
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REVIEW OF LITERATURE
y THE ARM
y THE WRIST
y THE GRIPPER
MANIPULATOR GEOMETRIES
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REVIEW OF LITERATURE
ARM(3DOF) WRIST(3DOF) GRIPPER
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
1 CARTESIAN
2 CYLINDRICAL
3 POLAR/CYLINDRICAL
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REVIEW OF LITERATURE
ARM CARTESIAN
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
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REVIEW OF LITERATURE
ARM CYLINDRICAL
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
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REVIEW OF LITERATURE
ARM POLAR/SPHERICAL
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
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REVIEW OF LITERATURE
WRSIT
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
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REVIEW OF LITERATURE
GRIPPERS
POSITIONING, ORIENTING AND DEGREE OF FREEDOM (DOF)
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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
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CONCEPTS
CONCEPT 1
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CONCEPTS
CONCEPT 2
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CONCEPTS
CONCEPT 3
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CONCEPTS
CONCEPT EVALUATION
y WORK VOLUME CAPACITY
y MANUFACTURABILITY
y AESTHETICS
y WEIGHT CARRYING CAPACITY
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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
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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
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DESIGN ANALYSIS
MOTOR SPECIFICATIONS Ö GRIPPER MOTOR
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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
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DESIGN ANALYSIS
MOTOR SPECIFICATIONS Ö LINEAR TRANSLATION MOTOR
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