DESIGN AND ANALYSIS OF INTELLIGENT ROBOTIC ARM
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518397Design and Analysis of IntelligentRobotic ArmN.RISHI KANTHAssociate ProfessorSCR Engineering CollegeGanapavaram.Nuthi.rishi@gmail.comDr. J. Suresh KumarProfessor & HeadMechanical EngineeringJNTUH College of EngineeringHyderabad (Autonomous)Dr.A.SrinathProfessor & HeadMechanical Engineering,KL University1. Abstract:Many robots have been built for manufacturing or for different applications for lifting the heavy loads with accuratedisplacement, orientation and to perform the same work repeatedly. The idea behind this work is to reduce the utilization of humanenergy for hazardous applications. This work involves in development of pneumatic controlled pick and place arm. To achieve thisgoal we intend to incorporate a simple linkage actuation mechanism. An AC motor is used along with spur gears and a threaded shaftarrangement. The gripper can perform the basic function of picking, holding and grasping of objects by means of a DC motor and itforms the mechanism. This work gives details about how to design and assemble the pneumatic pick and place robotic arm and analyzethe design for better material properties to bare the maximum load conditions. The gripper can easily accessible for any design ofcomponents without slipping.Key words: Intelligent robot, pick and place, arm2. IntroductionWhen mentioning robots, many people willthink about machines with hands and feet.However, this kind of machines often appears inscientific movies, entertainment, exhibitions andtoy stores. They are very different from industrialrobots. Industrial robots are abbreviated as IR.Most of them are simple apparatus. Sometimesthey are called robotic arms. Robotic arms areused in performing simple up-and-down motion, totake and pick out components from machines.However, a lot of machines can be entirelycontrolled by programs to do different types ofjobs, such as, searching, transportation, targeting,assembly and inspection.In 1979, the American Robots Associationhas defined robots as ‘a multi-functional operatorwhich can be controlled by programs. It movesthe materials, components, tools and otherspecial apparatus through control programs tofinish a series of work’.Although manyindustrial machines do not possess human shapes,they satisfy the criteria and can be called robots.Robots are being used widely in industries. Itis estimated that a lot of industrial robots will be inservice in near future. At present, scientists aredesigning robots with visions so that robots canaccomplish more complicated tasksSpace robotsHobby and competition robotsIJSERRobot classification:Types of robots by applications:Industrial RobotsDomestic or household robotsSurgical robotsService robotsMilitary robotsEntertainment robotsTypes of robot Applications of industrial robotsWeldingHandlingmaterialsLoad and unload of cutting toolsAssembling componentsCast treatmentPaintingRobot Gripper & End EffectorsDynamics of system:Dynamic system is needed for movement inthe working area. The most important of which isthe robotic arm. According to the designs of therobots, the main axis will move linearly orrotationally. The number of axes represents thenumber of directions that a robot can moveindividually. It can be called ‘the degree offreedom’. If the volumes of robots are the same, therobot with 3 rotating axes or the highest degree offreedom has the larger working area. A robotusually has 2 to 10 axes, most of the robots have 5to 6 degrees of freedom.Usually, the drive of the robot maintains thefunction to change the supplied power to thegrippers into usable kinetic energy for moving therobot and its positioning. The different types ofdrives are:-IJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518(1) Electrical,398Wood, Metals (Aluminum, Steel, Bronze, Brass,Copper), Synthetic Materials (PVC, Plexiglas),Composite materials, Foam core, Cardboard(2) Hydraulic and(3) Pneumatic.Electrical drive:Electromechanical drive systems are found in about20 percent of robots in today‘s world. Thesesystems are of different types including servostepper pulse motors. Electrical energy is convertedinto mechanical energy in these motors to powerthe robot for various applications, unlike hydraulicor pneumatic driving system that needs a lot ofaccessories. The advantages of an electrical systemis that it is simple, clean and silent, but it cannot liftor move heavy object. It is commonly used inmiddle sized or small sized robots.3. Components to be designed: Base bottom plateBase side plateBase top/Intermediate plateArm side plateArm top/Bottom plateForearm side plateForearm top/bottom plateWrist side plateWrist bottom plateGripper jawsSpacerActuating gear spacerGripper baseActuating gearGripper rotation gearGear caseGripper worm gearGripper actuating gearGripper rotation bearingGripper linkHydraulic drive:The most known form of the drive systems whichare used widely is the hydraulic system ashydraulic cylinders and hydraulic motors aregenerally very sizeable and transfer high force andpower, most importantly with accurate control. Ahydraulic actuator works by changing forcesobtained from high pressure hydraulic fluid intousable mechanical energy which is used fordifferent linear motions and rotation of shafts. TheHydraulic fluid power is generally cost effectivefor factors such as short stroke and straight-linepositioning where high forces are required. Thisdrive system packs enormous power into a smallpackage but is very safe and resistant to harshenvironments.4.1 Base bottom plate:The base bottom plate is the base part for wholerobot arm. This plate can be fixed to the mobilerobotbase.Pneumatic drive:A pneumatic driving system has similar advantagesto that of the hydraulic driving system. Pneumaticsystems are approximately found in about 30percent of robots in today's world. Pneumaticdrives use compressed air to propel the robots forvarious applications. The pneumatically drivenrobot is very popular these days for most of themachine shops have compressed air lines in theirworking areas. Actually, for difficulty in control ofeither speed or position or both which are theessential ingredients for any successful robot, thissystem is used selectively.Fig 1: Base bottom plateIJSERMaterials used for robotics:There is plenty of choice when it comes to pickingthe building materials for your robot. However notevery material is a good choice.There are three groups of materials. Each of thesethree groups have their own characteristics,possibilities and difficulties.Note: There is a fourth group of materials calledceramics. However this group is only marginallyuseful for robotics.4. DESIGNING OF ROBOTIC ARM4.3 Base side plate:Base side plate is connected to the base plate and itsupports to the robot arm linkage.IJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518399Fig 2: Base side plateFig 5: Arm top/bottom plate4.4 Base top/Intermediate plate:Top and Intermediate plates are connectedbetween the two base side plates. The middle armlink is connected to this part. Base top/Intermediateis joined to the side plates by welding joint.4.7 Forearm side plate:Forearm is connected to the arm. That is alsogiving right and left motion the arm. In this platealso the actuating gear is connected to this plate.IJSERFig 3: Base top/intermediate plate4.5 Arm side plate:Arm is the middle part of the robot arm. Whichconsist of two degree of freedom that is right andleft motion to the robot. The arm consist of gearsand motor to actuate the motion. The total parts inthis arm is fixed to this side plate.Fig 6: Forearm side plate4.8 Forearm Top/bottom plate:Fig 7: Forearm top/bottom plateFig 4: Arm side plate4.6Arm Top/Bottom plate:Arm top/bottom plate is to close the arm sideplates and this part is connected to gear to give themotion to the arm.Fig 8: Forearm top/bottom plateIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-55184.9 Wrist side plate:Wrist is the main part of the robot arm because allactuating motions to the gripper part is suppliedfrom this wrist. The motions are the gripperactuating and the gripper opening and closingmotion through worm gear.4004.12 Actuating gear spacer:Fig 12: Actuating gear spacerFig 9: Wrist side plate4.10 Gripper jaws:Gripper jaw is the one of the part in the gripper.This gripper jaws are help to hold the objects. Thisgripper jaws can get the motion from the wormgear followed by the gripper actuating gear.4.13 Gripper base:Gripper base is the base for the gripper to hold heall parts of the gripper and the gripper rotation gearalso connected to this base to rotate the wholegripper.IJSERFig 10: Gripper jaw4.11 Spacer:Spacer used in between the connection of gearand arm side platesFig 13: Gripper base4.14 Gripper Actuating gear:Gripper Actuate gear actuate gripper jaws tomove and hold the objectFig 14: Gripper actuating gearFig 11: SpacerIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-55184014.15 Gripper rotation gear:Gripper rotation gear can rotate the wholegripper. This gripper rotation gear is fixed tothe gripper base.4.18 Final Assembly of Robot Arm:Final Product of the robot arm is designed tohold and lift 25kg object op to 2 meters ofheight.Fig 15: Gripper rotation gear4.16 Gear case:Gear case consist of all gears that is motionchanging gears and the motor is fixed to this gearcase.Fig 18:Assembly design of Robotic arm5. ANALYSIS OF ROBOTIC ARMANALYSIS for the robot is done using a softwareCATIA that shows the working ability of the robotas possible as for the implementation results beforemanufacturing. This shows all the properties of thematerials that study the working capability of therobot.The analysis depends on the type of material usedand different types of loads applied in certaindirections.Here the analysis is done on twomaterials, iron and mild steel. Observations hasdone on iron and mild steel and this is shown belowcorrespondingly.ALUMINUM:Aluminum (or aluminum, both are correct) iscommonly available in extruded forms in differentshapes. It's pretty cheap, light, strong, resistant tocorrosion and easy to work with. However weldingaluminum isn't practical as it needs special weldingequipment (MIG/MAG or TIG welding) and thebond isn't very strong. While soldering is possible,it doesn't make a strong bond.The linear andparabolic meshing properties of the element iscalculated and various types of observationsacquired are Deformation Displacement Von-mises stress Principal stress PrecisionIJSERFig 16: Gear case4.17 Gripper worm gear:Gripper worm gear is giving motion to the gripperactuating gear and get the motion from the wrist.Fig 17: Gripper worm gearIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-55184025.3 Parabolic deformation of Worm gear andGripper Jaw:5.1 Worm gear Measure Inertia of Aluminum:Volume - 0.004m3Area - 0.283m2Mass -10.074kgDensity -2710kg m3Fig 21: Parabolic deformation of Worm gearFig 19: Worm gear Measure Inertia of AluminumIJSER5.2 Gripper Measure Inertia of Aluminum:Area- 0.135m2Mass-1.351kgSurfacic mass -10kg m2Fig 22: Parabolic deformation of Gripper jaw5.4 Parabolic displacement of Worm gear andGripper Jaw:Translational displacement is 0.000228mmFig 23: Parabolic displacement of WormFig 20: Gripper Measure Inertia of AluminumIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518Translational displacement is 8.82mm4035.6 Parabolic principal stress of Worm gear andGripper Jaw:Stress principal in Worm gear is 48.8 N m2Fig 24: Parabolic displacement of Gripper jaw5.5 Parabolic von mises stress of Worm gear andGripper Jaw:Stresses in Worm gear is 34.5 N m2Fig 27: Parabolic Principal stress of WormPrincipal Stresses in Gripper Jaw is 34.1 N m2IJSERFig 25: Parabolic von mises stress of WormFig 28: Parabolic Principal stress of Gripper jawStresses in Gripper jaw is 36.6 N m25.7 Parabolic precision of Worm gear andGripper Jaw:Parabolic precision of Worm gear is 43.3JFig 26: Parabolic von mises stress of jawFig 29: Parabolic precision of Worm gearIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518404Parabolic precision of Gripper jaw is 0.001245.10 Parabolic deformation of Worm gear andGripper Jaw:Fig 60: Parabolic precision of Gripper jawMild Steel material:Steel is commonly used in the construction of thechassis and body panels of trucks and automobiles.The reason for steel's use in the automotive sectoris steel's unique set of characteristics as aconstruction material.Fig 63: Parabolic deformation of Worm gear5.9 Worm gear Measure Inertia of Steel:Volume - 0.004m3Area - 0.283m2Mass -29.21kgDensity -7860kg m3IJSERFig 64: Parabolic deformation of Gripper jaw5.11 Parabolic displacement of Worm gear andGripper Jaw:Parabolic displacement of Worm is 83.7Fig 61: Worm gear Measure Inertia of SteelArea- 0135m2Mass- 1.351kgSurfacic mass-10kgFig 65: Parabolic displacement of WormFig 62: Gripper Measure Inertia of steelIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518Parabolic displacement of Gripper base 3.08mm4055.13 Parabolic principal stress of Worm gearand Gripper Jaw:Parabolic principal stress of Worm gear is 47.8N m2Fig 30: Parabolic displacement of Gripper jawFig 33: Parabolic Principal stress of Worm5.12 Parabolic von mises stress of Worm gearand Gripper Jaw:Parabolic von mises stress is 37.8N m2Parabolic principal stress of Gripper base is32.5N m2IJSERFig 34: Parabolic Principal stress of Gripper jawFig 31: Parabolic von mises stress of WormParabolic von mises stress in Gripper base is38.2N m25.14 Parabolic precision of Worm gear andGripper Jaw:Parabolic precision of Worm 16.7JFig 32: Parabolic von mises stress of jawFig 35:Parabolic precision of Worm gearIJSER 2017http://www.ijser.org
International Journal of Scientific & Engineering Research Volume 8, Issue 12, December-2017ISSN 2229-5518Parabolic precision of Gripper base is 0.000437406for carrying different types of loads. It can be usedpick and place easily with carrying a load.References:1.2.3.Fig 36: Parabolic precision of Gripper jaw4.6. Result:The Worm gear and is analyzed using the materialsMild steel and Aluminum. After analyzing theWorm gear the values of component weight, Stressin component, Deflections in component are showin below tableMATER WEIGHT STRESSE DEFLECIALOFSIN TION INUSEDCOMPON COMPON COMPONENTENTENT(Kg)(N m2)(mm)Mild29.21878.20.00122steelAluminu 10.0768.40.000119m5.6.7.Akhtaruzzaman, M.; IzzatiBtSamsuddin, N.; BtUmar, N.; Rahman, M.;” Design and development ofa wall climbing Robot and its control system” on Technology, 2009.Yoneda K, Ota Y, Hirose S (2001) Development of aHi‐Grip Stair Climbing Crawler with HysteresisCompliant Blocks. Proceedings of 4th InternationalConference on Climbing and Walking Robots(CLAWAR), Karlsruhe, Germany.Birk A, Carpin S (2001) Rescue Robotics ‐ a CrucialMilestone on the Road to Autonomous Systems.Advanced Robotics Journal. 20(5): 595‐576.Hebert M H, Thorpe C E, Stentz IntelligentUnmanned Ground Vehicles. Boston:KluwerAcademic Press.Rodriguez, Nestor Eduardo Nava, Ceccarelli,Giuseppe Carbone and Marco (2006), “Optimaldesign of driving mechanism in a 1-DOFanthropomorphic finger”, Mechanism and MachineTheory 41, 897-9114. Mantriota, Giacomo (2006), “Theoretical model ofthe grasp with vacuum gripper”, Mechanism andMachine Theory 42, 2-174. Yin, Xiaoming and Xie, Ming (2007), “Fingeridentification and hand posture recognition forhuman-robot interaction”, Image and VisionComputing 25, 1291-1300.IJSERFrom above all values Aluminum is less weightcompared to mild steel and less amount of stressesare developed in material used as Aluminum.7. CONCLUSION:Today we find most robots working forpeople in industries, factories, warehouses, andlaboratories. Robots are useful in many ways. Forinstance, it boosts economy because businessesneed to be efficient to keep up with the industrycompetition. Therefore, having robots helpsbusiness owners to be competitive, because robotscan do jobs better and faster than humans can, e.g.robot can built, assemble a car. Yet robots cannotperform every job; today robots roles includeassisting research and industry. Finally, as thetechnology improves, there will be new ways to userobots which will bring new hopes and newpotentials.Hence all the requirements needed aresatisfied by Robot arm. So, it is perfectlyimplemented to resolve several problems for theupcoming technologies. The applications of Robotarm involves many operations such as in airports,warehouses, production plants,industry, militaryand security environments, construction fields etc.,IJSER 2017http://www.ijser.org
Gripper rotation gear can rotate the whole gripper. This gripper rotation gear is fixed to the gripper base. Fig 15: Gripper rotation gear . 4.16 Gear case: Gear case consist of all gears that is motion changing gears and the motor is fixed to this gear case. Fig 16: Gear case . 4.17 Gripper worm gear: Gripp
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