hydraulic robotic arm[1]

8/19/2019 Hydraulic Robotic Arm[1]

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A Six Degree of Freedom Robotic Manipulator


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Introduction

The Robotic Manipulator Arm extends the flexibilityof workstations by transporting material more efficiently andquickly between worktable, peripheral devices and assemblylines etc.

A sub class of more general family of Robots, the IndustrialRobots

An industrial robot is officially defined by ISO[1] asan automatically controlled, reprogrammable, multipurposemanipulator programmable in three or more axes.

Despite its numerous possible usages, it finds most widespreadusage in manufacturing industry. Typical applications of robots include welding, painting,

assembly, pick and place, packaging and palletizing, productinspection, and testing, all accomplished with high endurance,speed, and precision.


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Basic Unit: Kinematic Configuration


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Components of Hydraulic Actuation

Systems1.Hydraulic Fluid:

The fluid used is 40W oil reads as 40 weight oil. It has high viscosity which maintains a lubricating film betweenmoving parts. This also reduces friction loss and cools thecomponents.

2.Line:

Pipe and tubes along with the fittings or connectors,constitute the conducting lines that carry hydraulic fluidbetween components.


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3.Hydraulic Pump:

The pump used here is gear pump. A gear pump developsflow by carrying f luid between the teeth of two meshedgears. One gear is driven by the drive shaft and turns theother, which is free. The pumping chambers formed

between the gear teeth are enclosed by the pump housingand the side plates. A low pressure region is created at theinlet as the gear teeth separate.


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Cylinders: Single Acting Cylinder: It has only one fluid chamber

and exerts force in only one direction. When mounted vertically, they often retract by the force of gravity onthe load.

Double-Acting Cylinder: The double-acting cylinderis operated by hydraulic fluid in both directions and is

capable of a power stroke either way.


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4. Valve:

A valve is a device that regulates the flow of a fluid byopening, closing, or partially obstructing variouspassageways.


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3/2 valve:

A

C

B

Actuator

From Pump

To Sump


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Truth Table:A

(Actuator)

B

(Pump)

C

(Sump)

Forward 1 1 0

Backward 1 0 1

Hold 0 0 0


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4/2 valve:

I1 E1 I2 E2

Actuator (Before Piston)

Pump Sump

Actuator (After Piston)


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Truth Table:

I1 E1 I2 E2

Forward

Stroke

1 0 0 1

Backward

Stroke

0 1 1 0

Hold state 0 0 0 0


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Scope For Future Work

Incorporate driver board circuits for giving power fordriving the system.

Introduce a suitable filter into the hydraulic circuit.

Incorporate safety circuits to save future damage to thecircuit.

Repair, lubricate & replace mechanical components at the joint level to reduce friction. Expand workspace if possible.

Devise a sensor-actuator configuration to implement afeedback mechanism

Develop a program for microprocessor based control of therobotic arm to implement full autonomous action.


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hydraulic robotic arm[1]

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