Beruflich Dokumente
Kultur Dokumente
AidynTorgayev
DauletBaimukashev
Introduction/Background
Theaimofthisprojectistodesignaroboticunderactuatedfingerwithactuation
system.Theroboticfingershouldhavethreedegreesoffreedomandthetotal
weightof2kgshouldbemaintained.Mostattentionispaidondesignofthelinkage
mechanismandreliabilityoftheconstruction.Roboticfingersareusedforprecise
manipulationandweightlifting.
Mostimportantrestrictionsandassumptionsareasfollows:
Externalweightisabout2kgandsafetyfactorisatleast2
Theoveralllengthshouldbewithin1015cm,andwidthshouldnotexceed3cm
Weightandcostshouldbeminimized
Anthropomorphismisnotadesignconcern.
Mostpartslikespringsandshaftsaretakenfromavailablesources
Worstcasescenariosshouldbeconsidered
Methodology
Firstofall,thelinkagemechanismofthefingerisdesignedforhavingthreedegrees
offreedomanddimensionsforlinksaredetermined.Afterthatspringdesignisdone,
andallpartsincludingthespringaretestedforsafetyfactors.Finally,fortherequired
outputtorquegearandamotorarechosenaccordingly.
The3DmodelisbuiltinSolidworks,andalldrawingsarepresentedintheAppendix
C.AllcalculationsanditerativemethodarecarriedoutwithMatlab.Allcodecanbe
foundinAppendixB.
Design
Linkagedesign
Fig1.Linkagedesign
Thedesignwasaniterativeprocessofdifferenttrialsforfindingtheefficient
mechanism,whichisperformedbyusageofCAD.Eachphalangeofthefingeris
designedasaseparatelinkagesystemandissupposedtohavedimensionssothat
thewholefingerdimensionswithintaskrestrictions.Startingwithasimple2D
drawinginSolidWorksforbasicmovementpredictionandfinishingwitha3Ddesign
ofeachlink.
LinkagesystemwasdraftedinSolidWorkswithsimplelinesandblocks.Twojoints
(greyandblue)arefixedandareabletorotateaboutthepoints.Theblue,light
brownandgreenlinesrepresentthemainphalangesofthefinger.Otherlinksare
supportiveandprovidedesiredmotionofthelines.
Springdesign
Nowfordesignofthespringwehavecalculatedthesafetyfactorandwithiterating
thecodeswritteninMatlab,optimaldimensionsareobtainedforwirediameter,
meandiameter,springrateetc.Afterthatthesevaluesarecomparedtowhatis
availableinwebsitecatalogueAsraymondandspringwithdesiredspecificationswas
selected.Thesafetyfactorofspringis6.8,whichismorethansatisfactory.Then,the
dimensionsofaspringareasfollows:
Material:ASTMA228
Wirediameter:0.56mm
Outerdiameter:6.35mm
Totalnumberofcoils:N
=19
t
Springrate:200N/m
Gears/motor
Gearswereselectedsothatamotorwillhaveenoughtorquetoextendthespringto
therequireddeflection.Theworkingdeflectionis7mmandrequiredtorquewas1.5
Nm.BothmotorandgearheadarechosenfromMaxonMotorcataloguewebsite.
Thenominaloutputofthemotoris222mNmandgearratiois14,whichcan
increasethetorqueofmotorupto3Nmwhichissatisfactory.Thedetailed
specificationsofthemotorandgearheadarepresentedinAppendixD.
Body
ThematerialforthebodyistheAluminumAlloy3003coldrolled.Thechoiceof
aluminumisduetoitsstrength/weightfactor,aswecangetenoughstrengthand
remaintheweightaslessaspossible.Thelinktowhichtheweightof2kgis
attachedisconsideredassinglesupportedbeamanddeflectioniscalculated.The
deflectionshowsaround10E8whichisverylow.
Also,tearoutstressinthepinswasconsideredandcalculated.Thesafetyfactor
againsttearingisaroundN
=21.
tear
Conclusion
Inconclusion,wesuccessfullydesignedallneededpartsforthreedegreefreedom
roboticactuationsystem.Listofpartsisprovidedinfollowingtable.
Linkage
mechanism
Fourbarlinkagesystem,DOF=3.
Motor
ECi4040mm,brushless,100Watt
Torque:222mNmSpeed:5000RPM
FromMaxonMotor
Gearhead
PlanetaryGearheadGP32A32mm,ratio:14
FromMaxonMotor
Spring
ASTMA228,d=0.56mm,D
=6.35mm,N
=1,k=200N/m
o
t
FromAsraymond
Totalweightofanassemblyisexpectedtobearound800g,550gofwhichaccounts
formotorandgearhead.Thetotalcostisaround550$,takingintoaccountmotors,
gearsandmaterials.Themotorandgearheadcost425$.Thewidthoftherobotic
fingeris2.5cm,andlengthis12cm,whichiswithintherequiredrange.Thedesign
andmaterialselectionallowsittooperateatroomtemperature.
Inordertoimprovethedesigninthefuturewecouldchangetheshapeofthebox
containingmotorandcoatingofthelinkage.Theextensionspringcouldbereplaced
withtorsionalspringforthesakeofspaceeconomy.
AppendixACalculations
(MATLABCODE)
Springhelicalextension
Findingdiameterandsafetyfactor:
d=0.56mm
D=6.35
C=D/d
G=80*10^9
Ks=1+0.5/C
F=0.180*9.81
F_init=0.36
tau=8*Ks*F*D/(pi*(d)^3)
CoefficientformusicwireASTMA228,squaredgroundends
A=1753
b=0.1822
Ultimatetensilestrength:
Sut=A*(d^b)
Yieldstrength
Sys=0.6*Sut
Staticsafetyfactoragainstyielding
Nf=Sys/tau
Springrate
k=200
delta_F=FF_init
y_working=delta_F/k
Numberofactivecoils
Na=(d/1000)^4*G/(8*(D/1000)^3*k)
Endcontributetoactive11coils
Nt=Na+1
Asspringhashooks,let'sfindendstresses
MaxbendingstressaspointA
R1=1.5
C1=2*R1/d
Kb=(4*C1^2C11)/(4*C1^24*C1)
sigma_A=Kb*16*D*F/(pi*d^3)+4*F/(pi*d^2)=384.8379
MaxtorsionstressaspointB
R2=0.5
C2=2*R2/d
Kw2=(4*C21)/(4*C24)
sigma_B=Kw2*8*D*F/(pi*d^3)=317.7877
Fromthecalculations,staticsafetyfactoragainstyieldingisNf=6.88,whichis
appropriate.
Tearoutfailure
length=2/1000
thickness=2/1000
A_tear=length*thickness
F=20
tau_tear=F/A_tear
tau_max=tau_tear
Calculatingsafetyfactoragainsttearing
Sy=186*10^6
S_ys=0.577*Sy
N_tear=S_ys/tau_max
N_tear=21.
Accordingtothecalculations,thesystemissafeagainsttearing.
Calculatingbeamdeflection
Thelinktowhichtheweightof2kgisattachedshouldnotfail.Thislinkisconsidered
asbeamanddeflectionisfound.
Bendingdeflectioniscalculatedassecondintegrationofmomentfunction:
1
1
1
q(x)=R
<x0>
F<xb>
+R
<xL>
1
2
0
0
0
V(x)=R
<x0>
F<xb>
+R
<xL>
1
2
1
1
1
M(x)=R
<x0>
F<xb>
+R
<xL>
1
2
+
Atx=L
,V=M=0
V=R
F+R
1
2
M=R
LF(Lb)
1
0=R
F+R
1
2
0=R
LF(Lb)
1
R
=5N
1
R
=25N
2
E=2.06e11
I=0.083
b=2.5
f=@(x)R1*x.^2/2+F*((x.^2)/2b*x)
Q=integral(f,0,5)
deff=Q/(E*I)
Deflectionis7.1394e09,whichisverylow.
AppendixCDrawings,specifications
AppendixD
TENSIONSPRING(3592)
Description
Inches,Lbs
mm,N
SpringType
Tension
Spring
Tension
Spring
StockNo.
3592
3592
OutsideDia
0.25
6.35
PulltoPull
Length
25.4
WireDiameter
0.022
0.56
Rate
1.14
0.2
InitialTension
0.24
1.06
MaxExtension
1.31
33.29