Proposal for the
Mechanical Part of
Robot Manipulator
Dinuka Nisal
M19990924002
1.Introduction
In the present robots have been playing a vital role in industries. Because it can
perform work more accurately, fast and smarter than humans. These manipulators
are introduced into the industries for increasing the productivity and quality of
products in a greater extend. The modern commercial robotic systems are very
complex. They are integrated with many sensors and actuators which, have many
interacting DOF and most of them require user interfaces and programming tools.
This Manipulator is planning to designed in order to perform the task of picking
Gloves and placing them in correct orientation using an image processing
technology. When designing this manipulator we have selected our very own
unique features comprising with 6 Degree of freedom, Actuators, Computer vision.
Before designing this manipulator we have been planning to divide our tasks into
three sectors. Namely Mechanical, Electronic & Image processing (computer
vision).
Mechanical Section of the Robot manipulator is elaborated below.
Mechanical engineering is an essential part of science that teaches us how to create
new machines, maintain them and design the various parts that are necessary to
address specific needs. It is essential for evolution, creation and innovation.
The Mechanical Section of the manipulator is about the number of Degrees of
freedom selecting a suitable material, selecting the appropriate Actuators and also
the proper End Effector.
Six Degree of freedom
6 degrees of freedom is the minimum needed to reach a volume of space from
every angle. The longer the arm, the greater the volume that can be reached. More
than 6 joints and the robot becomes Kinematically Redundant thus it can reach the
same spot at the same angle in more than one way.
Material
When designing the manipulator as the material we have selected Aluminum.
Aluminum does not rust, but sometimes corrodes in wet environments, especially
if there are acidic or basic impurities in the water. Surface treatments generically
referred to as "anodization" can provide a high degree of protection. Chemically,
aluminum is unstable both with respect to air and to water, but self-protects with a
very tough, microscopically thin layer of aluminum oxide. Aluminum is much
easier to machine than steel, which makes it the structural metal of choice for our
robots.
Actuators
Rotary Actuators
These are durable & provide relatively high torque for size.
It reduces maintenance problems.
These actuators rotate, so they can easily move different things at any required
angle
This actuator is very stable once operated and even at less speeds.
It provides very smooth acceleration & deceleration operation.
Rotary actuator with a stepping motor, speed & position adjustment can be
performed simply.
End Effector
Vacuum End Effector
These systems can do more than just lift objects up, they can also rotate and tilt
products and will be ideal to pick and place Gloves.
2.Justification
Introduction of a robot manipulator has so many effects for the betterment of a
company Robotic manipulators are capable of performing repetitive tasks at speeds
and accuracies that far exceed those of human operators. They are now widely
used in manufacturing processes.
3.Aims and Objectives
The aim of the project is to picking gloves and placing them to a correct
orientation.
The objective of this project is to make the production of the company much more
efficient and accurate.
4. Methodology
Planning out the required information
Working out the required calculations
Designing a Model.
Analyzing the Model
Testing the Model
5. Project Schedule
October November December January February March
Task Name
Research
Activities
Fabrication
of
Hardware
Interim
Report
Testing the
setup
Submission
Presentation
