Beruflich Dokumente
Kultur Dokumente
Abstract
This project presents the mechanisms of Robotic Arm which is used to lift objects and unload
them. These kinds of robots are basically used in factories. We can use computer software that can
calculate the finite element of linear stress of each components of the Robotic Arm while doing
this project. Furthermore, in this project, we have used aluminium as a material. In addition, we
selected components on the basis of inverse and forward kinematics of the Robotic Arm
movement. We designed Robotic Arm in such a way that when force is exerted, mechanical
components will not be broken. We used previous researches, findings and theories made on
Robotic Arm and its mechanisms to have clear concept about designing and modifying it.
Introduction
Automated guided conveyors (AGC) are used in many places for e.g. in manufacturing plants,
distribution centers as it moves and carries items/objects from one place to another. Various new
technologies and robots have already been introduced in the market, however, use of AGC for
handling packages and transporting materials in a timely manner is the main reason because of
which use of AGC is very popular. These kinds of robots are essential to the factories where less
investment can return high profits due its high efficiency.
This project involves designing of Robotic Arm used in AGC. Characteristics of Robotic Arm
designing slightly resembles with the Vacuum Sucking Unit in which the paths that device follows
is controlled through computer.
While performing this project, these are the problems that might be encountered: size, material
selection, torque and motor rpm. These all affect the mechanisms of the Robotic Arm from one
way or the other.
Our Objective
The main objective of this project is to design a Robotic Arm having the mechanisms that can load
and unload the items from one place to another.
Detail Procedures
We must sketch mechanical components which include simple arm link, base and servo motor
holder. The design must achieve required dimensions to function properly so dimensions required
must be taken into consideration to get it matched with the torque of servo motor.
Examples of sketches are shown below:
Based on this above figure, we can assume that base is located at x=0 and y=0 so we must first find
out the location of x and y. Forward kinematics involves solving of position and orientation of the
end effectors of the Robotic Arm if we are given the values for link lengths and joint angles.
Analysis:
The main purpose of analysis is to conclude the information about displacement and stress caused
by loads during normal operating conditions. We can use computer software named ALGOR to
analyze the linear static stress. After making analysis, we can get into the conclusion whether the
material used (aluminium) is strong enough to load the objects. In this section, we will discuss
about various parameters like translation limitation, robot workspace, force calculations, forward
kinematics, velocity, sensors and so on.
Translation limitation is a joint from which the arm can rotate or bend. The translation limitation
value can be identified by the actuators used in the Robotic Arm. Each degree requires exponential
algorithm calculation, encoder and a motor.
Forward kinematics is the way to determine the position of the end effectors if we have the values
for link lengths and joint angles.
Force calculation must be done to select the suitable motor for the joints as it helps to support an
entire weight of a Robotic Arm and object that is loaded.
Robot workspace is the area covered by the robotic hand. This mainly depends upon the
translation limitations, arm link lengths and the angle in which the object will be loaded.
As our design heavily relies on the results of these parameters, analysis of the mechanism of
Robotic Arm is an important part for the successful project completion.
Testing:
Parts that need to get assembled have different dimensions and usage, so we must make sure
about the processing of fabricating parts. For the movement, gripper - object to load and unload
the items - must be assembled with RC servo using coupling. Suitable lifting mechanism must be
determined because it functions as an actuator to lift objects whereas gripper functions as a holder.
Many servos are controlled by servo controllers, and servo controllers can be microcontroller or
computer itself. These micro-controllers functions as the operating system to control all the servos
by using the software given by the manufacturer.
Conclusion:
To build the Robotic Arm, all these procedures are important and must be followed; however,
new changes can be brought in. The most important benefits from this project is
- Because of load and unload mechanism, materials will be easily handled.
Acknowledgement:
My mother, Roshani Bade, for her valuable suggestions, advices, knowledge from her years of
experiences and encouraging me to design this project on Robotic Arm.
References
J. L. Nevins Adaptive control, learning and cost effective sensor systems for robotics or advanced
automation systems, 1984
S.R.Deb,Robotics technology and Flexible automation by,Mc Graw Hill.
Mikell P Groover, Industrial roboticstechnology,programming and applications,Mc Graw Hill.
J. Hallam "Autonomous robots: from dream to reality", Proceedings from \'Robotikdagar, 1991