Fyp Pick and Place Robot

8/9/2019 Fyp Pick and Place Robot

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www.fnal-yearproject.com

A PROJECT REPORT ON

PICK AND PLACE ELECTRICAL CONTROLLED MECHANICAL ARM

Submitted in partial fulfillment of the requirements

For the award of the degree

BACHELOR OF TECHNOLOGY

IN

MECHANICAL ENGINEERING

SUBMITTED BY: SUBMITTED T :

!"#$#EET SI%&! '()*+),))*(- M#. D!EE#"/ &U%0"%T '!D-

1"M2ES! %"Y"2 '()*+),))*3- M#. M"!"4EE# SI%&! '$#F.-

U$1"# SI%&! '()*+),))56-

&U#$#EET SI%&! '()*+),))*)-

DEPARTMENT OF

MECHANICAL ENGINEERING

APEX INSTITUTE OF TECHNOLOGY

AFFILIATED TO UTTAR PRADESH TECHNICAL UNIVERSITY

1
http://www.final-yearproject.com/http://www.final-yearproject.com/


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APEX INSTITUTE OF TECHNOLOGY, KAUSHALGANJ

MECHANICAL ENGINEERING DEPARTMENT

CERTIFICATE

This is to 7ertif8 that following 7andidates of Bat7h 9 I4 Me7hani7al Engineering Semester;

4III haDESIGN OF PICK & PLACE

ELECTRICAL CONTROLLED MECHANICAL ARM? during the term ending in M"Y;

*)(,.

PREPARED BY:

!"#$#EET SI%&! '()*+),))*(-

1"M2ES! %"Y"2 '()*+),))*3-

U$1"# SI%&! '()*+),))56-

&U#$#EET SI%&! '()*+),))*)-

GUIDED BY: HEAD OF DEPARTMENT:

Mr. M"!"4E# SI%&! Mr. D!EE#"/ &U%0"%T

ACKNOWLEDGEMENT2


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The satisfa7tion and euphoria that a77ompan8 the su77essful 7ompletion of an8 tas@ would be

in7omplete without the mentioning of the people whose 7onstant guidan7e and en7ouragement

made it possible. 0e ta@e pleasure in presenting before 8ou our pro=e7t whi7h is result of

studied blend of both resear7h and @nowledge.

0e eApress our earnest gratitude to our internal guide $rofessor Department of ME our pro=e7t

guide for his 7onstant support en7ouragement and guidan7e. 0e are grateful for his 7ooperation

and his


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The industr8 is mo


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3.* "#M $"#TSCCCCCCCCCCCCCCCCCCCCCC..3

3. 0I#ED #EMTECCCCCCCCCCCCCCCCCCCC..3

CHAPTER * MAIN PARTS OF PROJECT" "$*

+.( Me7hani7al "rm 4ehi7leCCCCCCCCCCCCCCCC..... +

+.* Me7hani7al armCCCCCCCCCCCCCCCCCCCCC.G

+. End Effe7torCCCCCCCCCCCCCCCCCCC.CCC.,)

+., ontrol BoardCCCCCCCCCCCCCCCCCCCCC. ,(

CHAPTER MERITS,DEMARITS AND APPLICATION""""!

G.( "d


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LIST OF FIGURES

FIGURES

(.( ME!"%I"2 "#M ST#UTU#E.

(.* $0E# SU#E B"TTE#Y.

(. MT#.

*.( ME!"%I"2 I$$E#.

*.* I%DUST#I"2 ME!"%I"2 "#M.

*. MBI2E 4E!I2E

.( "IU2TU#"2 "#M.

.* DEEE F F#EEDM.

. I%TE#F"I%& F ME!"%I"2 "#M 0IT! !UM"%.

., ME!"%I"2 "#M.

.6 ME!"%I"2 "#M 4E!I2E.

.5 E%D EFFET#.

.3 0I#ED #EMTE.

.+ B21 DI""M.

8


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CHAPTER 1

INTRODUCTION

Me7hani7al is the bran7h of engineering s7ien7e Te7hnolog8 related to ma7hiner8 and

their design manufa7ture appli7ation and stru7tural disposition. #oboti7s is related to

ele7troni7s me7hani7s and software. #oboti7s resear7h toda8 is fo7used on de


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1"1 HISTORY OF MECHANICAL ARM:

The


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1'#:Unimation is pur7hased b8 onde7 orporation and de


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1(*: 4i7arm Unimation 7reates the $UM" '$rogrammable Uni


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1*:%a7hi Te7hnolog8 In7. U.S.". is established.

1!: F"%U #obot S7hool was established. &M Fanu7 #oboti7s orporation was

restru7tured to F"%UHs wholl8 owned share holding 7ompan8 F"%U #oboti7s

orporation together with its subsidiaries F"%U #oboti7s %orth "meri7a In7. and

F"%U #oboti7s Europe &mb!. " $rotot8pe of the intelligent robot was built.

1:The Motoman M# 7ontrol s8stem was introdu7ed with the abilit8 to 7ontrol up to

*( aAes. It 7ould also s8n7hronie the motions of two robots.

1%: Miller departed from the roboti7 business. T laun7hed the D8nami7 #oboti7

Di


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1"! LAW OF ROBOTICS:

Isaa7 "simo< 7on7ei


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!" P0/ S0-./

"t present mostl8 'lead;a7id-batteriesare used but potential power sour7es 7ould be:

$neumati7 '7ompressed gases-

!8drauli7s '7ompressed liquids-

Fl8wheel energ8 storage

rgani7 garbage 'through anaerobi7 digestion-

Still untested energ8 sour7es 'e.g.%u7lear Fusion rea7tors-

$" A.+-2+304

"7tuators are li@e the mus7les of a me7hani7al arm the parts whi7h 7on


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" T0-.5

urrent me7hani7al arm re7ei


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omputer


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* V2.--9 G377/6: $i7@ and pla7e robots for ele7troni7 7omponents and for large ob=e7ts

li@e 7ar winds7reens will often use


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!"1"! M0;38/ M/.5243.28 A9: "lso @nown as "utomated &uided 4ehi7les or "&4s

these are used for transporting material o


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usuall8 when tal@ing about industrial me7hani7al arm we thin@ of stationar8 me7hani7al arm in a

wor@ 7ell that do a spe7ifi7 tas@.

!"!"1 C2+/6324 M/.5243.28 A9 :Used for pi7@ and pla7e wor@ appli7ation of sealant

assembl8 operations handling ma7hine tools and ar7 welding. ItHs a me7hani7al arm whose arm

has three prismati7 =oints whose aAes are 7oin7ident with a artesian 7oordinator.

!"!"! C>8343.28 M/.5243.28 A9 :Used for assembl8 operations handling at ma7hine

tools spot welding and handling at die;7asting ma7hines. ItHs a me7hani7al arm whose aAes form

a 78lindri7al 7oordinate s8stem.

!"!"$ S75/3.28?P082 M/.5243.28 A9 : Used for handling at ma7hine tools spot

welding die;7asting fettling ma7hines gas welding and ar7 welding. ItHs a me7hani7al arm

whose aAes form a polar 7oordinate s8stem.

!"!" SCARA M/.5243.28 A9 :Used for pi7@ and pla7e wor@ appli7ation of sealant

assembl8 operations and handling ma7hine tools. ItHs a me7hani7al arm whi7h has two parallel

rotar8 =oints to pro


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$"1"% P3.@ & P82./ M/.5243.28 A9

The use of spe7ialied ma7hines for high speed pi7@;and;pla7e of small items with su7tion 7ups

is


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$"!SELECTION OF TASK

From the


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$" DEFINING WORK STATION

The wor@ station for this operation of pi7@ pla7e is been designed in su7h a wa8 that:;

The boA 7oming from the far distan7es is been sensed b8 a human and the moment of the

me7hani7al arm is been 7ontrolled b8 the me7hani7al arm.

"s one b8 one the boAes 7omes the me7hani7al arm pi7@s one boA and mo


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The


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perator;assist modes ha: The ma7hine will 7reate and 7omplete all its tas@s without human

intera7tion.

"1"$ S2/+> R/-3/9/4+6

The


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orre7t holding position should be set as if it not set then while mo


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CHAPTER %

STEPS OF DESIGN

%"1 SELECTION OF PRODUCT

From the number of produ7ts a


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whole arm as s7rewdri


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CHAPTER '

WORKS TO BE DONE

'"1 SELECTION OF PARTS

4arious 7omponents of appropriate spe7ifi7ations should be sele7ted so as to 7omplete the

fabri7ation and assembl8 of the me7hani7al arm. If the sele7tion is not done properl8 then the

proper wor@ing of the me7hani7al arm 7annot be obtained. It in7ludes the parts li@e sele7tion

of a7tuators motors wires et7. Thus the sele7tion pro7edure of


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In the industrial design field of human;ma7hine intera7tion the user interfa7e is where

intera7tion between humans and ma7hines o77urs. The goal of intera7tion between a human and a

ma7hine at the user interfa7e is effe7ti


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("! ARM PARTS

"ll arm are manufa7tured with allo8 &I pipes there dimensions are as follow:

"rm (; with 5) degree rotation"rm *; with (() degree rotation upward and downward

"rm ; with (*) degree rotation upward and downward

&ripper 9 it has a span of (5 7m

"ll arm and gripper are dri


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Mobile me7hani7al arm are a ma=or fo7us of 7urrent resear7h and almost e


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*"! MECHANICAL ARM :

" me7hani7al arm ha


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The end effe7tor or me7hani7al arm 7an be designed to perform an8 desired tas@ su7h as

welding gripping spinning et7. depending on the appli7ation. For eAample me7hani7al arms in

automoti


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*" CONTOLS:

The 7ontrol of me7hani7al arm is done through moters whi7h ta@e d7 power suppl8 through

wired remote. The power 7omes from a7 sour7e and adapter 7on


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ADVANTAGES, DISADVANTAGES AND APPLICATIONS

"1 ADVANTAGES

)-283+>:Industrial automated me7hani7al arm ha


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"! DIADVANTAGES

E7/46/:

The initial in


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WELDING ROBOT APPLICATIONS

"r7 0elding

Ele7tron Beam

FluA ore 0elding

2aser 0elding

MI& 0elding

$lasma utting

$lasma 0elding

Spot 0elding

TI& 0elding

0elding "utomation

Material !andling #obot "ppli7ations

DI""M S!0I%& 0I#I%& SYSTEM F $#/ET:

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REFERENCES

www.google.7om

[email protected]

www.robologiA.7om

www.roboti7s.7om

www.seattleroboti7s.orgNen7oderNaugG3Nbasi7s.html
http://www.final-yearproject.com/http://www.google.com/http://www.wikipedia.com/http://www.robotics.com/http://www.seattlerobotics.org/encoder/aug97/basics.htmlhttp://www.google.com/http://www.wikipedia.com/http://www.robotics.com/http://www.seattlerobotics.org/encoder/aug97/basics.htmlhttp://www.final-yearproject.com/

Fyp Pick and Place Robot

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