Download - Industrial Robot (1)
Industrial Robotics
BMFA 4493ASSIGNMENT 2
GROUP MEMBERS
NORAIDAHBTE BLARRASHIDAH BT JOHARIHASYIMAH BINTI RAZAK NUR SUFIAH AKMALA BT
RAMDANNURUL HAZWANI BINTI ZAKARIAJOSEPH RANGGA
1.To differentiate between mechanically closed loop and open loop robotic systems.
2.To conduct stress analysis on generic robot links.
3.To examine the selection of different cross sections fot the links.
Introduction
Serial Robot
A series of links connected by motor-actuated joints that extend from a base to an end-effector.Have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist“.Have six joints, because it requires at least 6 degrees of freedom.
Parallel Robot
Uses several computer-controlled serial chains to support a single platform, or end-effector.Formed from six linear actuators that support a movable base for devices. End effector(or 'hand') of this linkage (or 'arm') is connected to its base by a number of (usually three or six) separate and independent linkages working in parallel.
ResultsSerial Robot
Material Iron
Young's modulus 1.2e+011N_m2
Poisson's ratio 0.291
Density 7870kg_m3
Coefficient of thermal expansion
1.21e-005_Kdeg
Yield strength 3.1e+008N_m2
Solid Round Rod
Solid Square Bar Material Iron
Young's modulus
1.2e+011N_m2
Poisson's ratio 0.291
Density 7870kg_m3
Coefficient of thermal
expansion1.21e-005_Kdeg
Yield strength 3.1e+008N_m2
Hollow ProfileMaterial Iron
Young's modulus 1.2e+011N_m2
Poisson's ratio 0.291
Density 7870kg_m3
Coefficient of thermal
expansion1.21e-005_Kdeg
Yield strength 3.1e+008N_m2
Hollow Square ProfileMaterial Iron
Young's modulus 1.2e+011N_m2
Poisson's ratio 0.291
Density 7870kg_m3
Coefficient of thermal expansion
1.21e-005_Kdeg
Yield strength 3.1e+008N_m2
PARALLEL ROBOT
Material Iron
Young's modulus 1.2e+011N_m2
Poisson's ratio 0.291
Density 7870kg_m3
Coefficient of thermal expansion 1.21e-005_Kdeg
Yield strength 3.1e+008N_m2
Comparison between Serial Robot
Arm design WMS
Solid round 6.47e+003
Solid square 4.9e+003
Hollow profile 3.06e+003
Hollow square 3.19e+003
Parallel less prone to positional error than serial robot because , lower mass/inertia properties, and higher structural rigidity (i.e. stiffness-to-mass ratio)
Simulation
Video
ConclusionWe can differentiate between
mechanically closed loop and open loop robotic systems
Successfully conduct stress analysis on generic robot links.
Results show that the parallel robots more accurate than serial robots.
Can examined the selection of different cross sections