OPTIMIZATION OF PICK AND PLACE ROBOTIC

ARM
MINI-PROJECT REPORT

Submitted by

SANJAY DEV VV (AXALEME043)

In partial fulfilment for the award of the degree

Of

BACHELOR OF TECHNOLOGY

IN

MECHANICAL ENGINEERING

AXIS COLLEGE OF ENGINEERING & TECHNOLOGY, MURIKKINGAL

P.O, THRISSUR
2014
Department of Mechanical Engineering
2013-2014
AXIS COLLEGE OF ENGINEERING & TECHNOLOGY, MURIKKINGAL
P.O, THRISSUR

DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that this project report Titled
OPTIMIZATION OF PICK AND PLACE ROBOTIC ARM

Was prepared and presented by

SANJAYDEV VV (AXALEME043)

of the Sixth Semester Mechanical Engineering in partial fulfillment of

requirement for the award of Degree of Bachelor of Technology in Mechanical
Engineering under the University of Calicut during the year 2011-2015

JOFFIN JOSE .P JINISH .V.V

Project Guide Project Coordinator
MANU MOHAN NAIR
HEAD OF THE DEPARTMENT
 ACKNOWLEDGEMENT

It is a great pleasure for us to acknowledge all those who have assisted and supported us to
lead our project to success. We are very much grateful to Dr Santhosh Kumar, principal of our
college for supporting us along.

Also we express our deep sense of gratitude for the valuable suggestions and numerous
constructive comments rendered by Mr MANU MOHAN, HOD of our mechanical engineering
department and Mr JINESH VV, the co-ordinator of mini project.

We honestly thank to the staff members of mechanical department, especially our guide
Asst. Professor Mr JOFFIN JOSE P for guiding our project, also Asst. Prof CLINT K S for their
wholehearted support and co-operation.

Our sincere thanks go to all our friends for their co-operation, inspiration and support
during this project for their full effort in guiding us in achieving the goal as well as their encourage
to maintain all progress done. Our profound thanks go to all my friends, whose names are not
mentioned here for spending their time in helping and giving support whenever we need it in
completing this project

Above all, we low of our heads before God Almighty in enabling us to complete this project
work and for his Blessings.

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 ABSTRACT

For many people it is a machine that imitates a human—like the androids in Star Wars,
Terminator and Star Trek: The Next Generation. However much these robots capture our
imagination, such robots still only inhabit Science Fiction. People still haven't been able to give a
robot enough 'common sense' to reliably interact with a dynamic world.

Well robot is a system that contains sensors, control systems, manipulators, power supplies
and software all working together to perform a task. Designing, building, programming and testing
a robots is a combination of physics, mechanical engineering, electrical engineering, structural
engineering, mathematics and computing. In some cases biology, medicine, chemistry might also
be involved. A study of robotics means that students are actively engaged with all of these
disciplines in a deeply problem-posing problem-solving environment.

The most common manufacturing robot is the robotic arm. A typical robotic arm is made
up of seven metal segments, joined by six joints. The computer controls the robot by rotating
individual step motors connected to each joint (some larger arms use hydraulics or pneumatics).
Your arm's job is to move your hand from place to place. Similarly, the robotic arm's job is to
move an end effector from place to place. You can outfit robotic arms with all sorts of end
effectors, which are suited to a particular application. One common end effector is a simplified
version of the hand, which can grasp and carry different objects. Robotic hands often have built-
in pressure sensors that tell the computer how hard the robot is gripping a particular object. This
keeps the robot from dropping or breaking whatever it's carrying. Other end effectors include
blowtorches, drills and spray painters

Industrial robots are designed to do exactly the same thing, in a controlled environment,
over and over again. For example, a robot might twist the caps onto peanut butter jars coming
down an assembly line. To teach a robot how to do its job, the programmer guides the arm through
the motions using a handheld controller. The robot stores the exact sequence of movements in its
memory, and does it again and again every time a new unit comes down the assembly line. Most

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industrial robots work in auto assembly lines, putting cars together. Robots can do a lot of this
work more efficiently than human beings because they are so precise. They always drill in the
exactly the same place, and they always tighten bolts with the same amount of force, no matter
how many hours they've been working. Manufacturing robots are also very important in the
computer industry. It takes an incredibly precise hand to put together a tiny microchip.

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 TABLE OF CONTENTS

CHAPTER NO: TITLE PAGE NO.

ACKNOWLEDGEMENT III
ABSTRACT IV
TABLE OF CONTENTS VI
LIST OF TABLES IX
LIST OF FIGURES X

I INTRODUCTION 1
II LITERATURE REVIEW 2
2.1 Need 2
2.2 About Robotics 2
2.3 Robotic Arm 3
2.4 Types of Robots 4
2.5 Principles of Robotics 4
2.5.1 Mechanical Structure 5
2.5.2 Motors 5
2.5.3 Mechanisms 6
2.5.4 Sensors 6
2.5.5 Power Supply 6
2.5.6 Control System 6
2.6 Design Attributes 7
2.6.1 Degree Of Freedom 7
2.6.2 Work Volume 8
2.6.3 Structure 8
2.6.4 Functional Attributes 8
2.6.5 Material Selection 9

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 2.7 Software Reviews 9
2.7.1 Solid works 9
2.7.2 Pro E Creo 2.0 9
2.7.3 Catia V5R20 9
2.8 Applications of Robot Technology 10
III EXPERIMENTAL SETUP 12
3.1 Mechanical Designing 12
3.2 Components 13
3.2.1 Wheel 13
3.2.2 Base 14
3.2.3 Stepper Motor 15
3.2.4 Shoulder 16
3.2.5 Eliminator 17
3.2.6 Arms 18
3.2.7 Arm Support 19
3.2.8 Motor Clamp 20
3.2.9 End Effector 21
3.2.9.1 Gears 21
3.2.9.1.1 Right Gear 22
3.2.9.1.2 Left Gear 23
3.3 Components and Specifications 24
3.4 Assembly Processes 25
IV RESULTS AND DISCUSSIONS 31
4.1 Mechanism Model Analysis 31
4.2 Basics of Matlab 31
4.3 Performance Curve 32
4.4 Result table 33
4.5 Rotations 34
4.6 Properties of material used 35
4.7 Properties of Aluminum 36
4.8 Analysis Conclusion 37

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 4.9 Future Scope 37
V CONCLUSION 38
VI REFERENCE 39

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 LIST OF TABLES

TABLE NO: TITLE PAGE NO

3.1 COMPONENTS AND SPECIFICATIONS 24

4.1 RESULTS OF ANALYSIS 33

4.2 PROPERTIES OF MATERIAL USED 35

4.3 PROPERTIES OF ALUMINUM 36

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 LIST OF FIGURES

FIGURE NO: TITLE PAGE NO:

2.1 Canadarm 10
3.1 Design 12
3.2 Wheel 13
3.3 Base 14
3.4 Stepper Motor 15
3.5 Shoulder 16
3.6 Eliminator 17
3.7 Arms 18
3.8 Arm Support 19
3.9 Motor Clamp 20
3.10 Right Gear 22
3.11 Left Gear 23
3.12 Base with Motor Clamp 25
3.13 Assembling Stepper Motor 26
3.14 Assembling Wheels 26
3.15 Assembling Base completely 27
3.16 Assembling Shoulder 27
3.17 Shoulder with Motor Clamp 28
3.18 Assembling 1st Arm 28
3.19 Assembling with 2nd Arm 29
3.20 Assembling with Arm Support 29
3.21 Assembling Gears 30
3.22 Final Assembly 30
4.1 Angular Velocity 32
4.2 Angular Acceleration 33
4.3 Rotational Movements 34

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Mini Project-14 ROBOITIC ARM

CHAPTER 1

INTRODUCTION

Throughout recent history, the use of robot arms has become widespread. This is because of
their ability to complete repetitive, predictable tasks at an astonishing rate with little downtime
needed. Robot arms are also useful because of their ability to handle tasks that are difficult,
dangerous, or just too monotonous for people to complete. Due to the use of stepper motors and
precision tooling, robot arms are also able to complete tasks that would just not be possible to be
completed. This is a benefit of the recent advances in feedback control theory and computerized
control systems developed during the second half of the last century.

Thus, it goes without saying that robot arm design is highly important for engineers to
investigate and understand at an early point. This project acts serves this purpose in a structured
classroom setting. Through the use of concepts developed in the software package solid works a
robot arm was designed as a group project. This included the designing of the base, arms, and
control systems such as servo motors and belt power.

Once the design was modelled within the solid works environment, a mechanism model
analysis was completed to study the position, velocity, and acceleration of the robot arm for insight
into the validity of the proposed design

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CHAPTER 2
LITERATURE REVIEW

2.1 NEED

A robotic arm is a type of mechanical arm, usually programmable, with similar functions
to a human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot. The links of such a manipulator are connected by joints allowing either rotational
motion (such as in an articulated robot) or translational (linear) displacement. The links of the
manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of
the manipulator is called the end effector and it is analogous to the human hand.
Industrial robots are designed to do exactly the same thing, in a controlled environment,
over and over again. For example, a robot might twist the caps onto peanut butter jars coming
down an assembly line. To teach a robot how to do its job, the programmer guides the arm through
the motions using a handheld controller. The robot stores the exact sequence of movements in its
memory, and does it again and again every time a new unit comes down the assembly line.
Most industrial robots work in auto assembly lines, putting cars together. Robots can do a
lot of this work more efficiently than human beings because they are so precise. They always drill
in the exactly the same place, and they always tighten bolts with the same amount of force, no
matter how many hours they've been working. Manufacturing robots are also very important in the
computer industry. It takes an incredibly precise hand to put together a tiny microchip.

2.2 ABOUT ROBOTICS

Robotics is the branch of technology that deals with the design, construction, operation,
and application of robots, as well as computer systems for their control, sensory feedback, and
information processing. These technologies deal with automated machines that can take the place
of humans in dangerous environments or manufacturing processes, or resemble humans in
appearance, behavior and cognition. Many of today's robots are inspired by nature contributing to
the field of bio-inspired robotics.

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The concept of creating machines that can operate autonomously dates back to classical
times, but research into the functionality and potential uses of robots did not grow substantially
until the 20th century. Throughout history, robotics has been often seen to mimic human behavior,
and often manage tasks in a similar fashion. Today, robotics is a rapidly growing field, as
technological advances continue, research, design, and building new robots serve various practical
purposes, whether domestically, commercially, or militarily. Many robots do jobs that are
hazardous to people such as defusing bombs, mines and exploring shipwrecks.

2.3 ROBOTIC ARM

Arms are types of jointed robot manipulator that allow robots to interact with their
environment. Many have on board controllers or translators to simplify communication, though
they may be controlled directly or in any number of ways. Due to this fact, standalone arms are
often classified as full robots. The robot arms can be autonomous or controlled manually and can
be used to perform a variety of tasks with great accuracy. The robotic arm can be fixed or mobile
(i.e. wheeled) and can be designed for industrial or home applications.

There are many different types of robotic arms, but most can be characterized by their
mechanical structure. Cartesian (also known as Gantry) robots have three joints that are coincident
with the standard X-Y-Z Cartesian axes. Cylindrical arms have any number of joints that operate
on a cylindrical axis, normally rotating about one fixed rod. Spherical (polar) arms are those with
joints that allow it full rotation throughout a spherical range. SCARA robots have two parallel
rotary joints to allow full movement throughout a plane, typically for pick-and-place work.
Articulated robots are used for complex assembly operations, and consist of three or more rotary
joints. Parallel robots have three concurrent prismatic or rotary joints, and allow for tilting of heavy
or sensitive platforms.

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2.4 TYPES OF ROBOTS

1. Cartesian robot / Gantry robot: Used for pick and place work, application of sealant,
assembly operations, handling machine tools and arc welding. It's a robot whose arm has
three prismatic joints, whose axes are coincident with a Cartesian coordinator.
2. Cylindrical robot: Used for assembly operations, handling at machine tools, spot welding,
and handling at die-casting machines. It's a robot whose axes form a cylindrical coordinate
system.
3. Spherical robot / Polar robot (such as the Unimate): Used for handling at machine tools,
spot welding, die-casting, fettling machines, gas welding and arc welding. It's a robot
whose axes form a polar coordinate system.
4. SCARA robot: Used for pick and place work, application of sealant, assembly operations
and handling machine tools. This robot features two parallel rotary joints to provide
compliance in a plane.
5. Articulated robot: Used for assembly operations, die-casting, fettling machines, gas
welding, arc welding and spray painting. It's a robot whose arm has at least three rotary
joints.
6. Parallel robot: One use is a mobile platform handling cockpit flight simulators. It's a robot
whose arms have concurrent prismatic or rotary joints.
7. Anthropomorphic robot: Similar to the robotic hand Luke Skywalker receives at the end
of The Empire Strikes Back. It is shaped in a way that resembles a human hand, i.e. with
independent fingers and thumbs.

2.5 PRINCIPLE OF ROBOTICS

Basically a robot consists of:
1. A mechanical structure, such as a wheeled platform, arm, or other construction, capable
of interacting with its environment.
2. Sensors to sense the environment and give useful feedback to the device.
3. Systems to process sensory input in the context of the current situation and instruct the
device to perform actions in response to the situation.

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2.5.1 Mechanical Structure

The robot structure consists basically of the robot body that includes arms and wheels.
Some force such as electricity is required to make the arms and wheels turn under command. One
of the most interesting aspects of robot in general is its behavior, which requires a form of
intelligence.

2.5.2 Motors
A variety of electric motors provide power to robots, making them move with various
programmed motions. The efficiency rating of a motor describes how much of the electricity
consumed is converted to mechanical energy.

DC motors. Permanent-magnet DC motors require only two leads, and use an arrangement
of fixed- and electro-magnets (stator and rotor) and switches. These form a commutator to create
motion through a spinning magnetic field.

AC motors. These motors cycle the power at the input-leads, to continuously move the
field.
Stepping motors. They are like a brushless DC or AC motor. They move the rotor by
applying power to different magnets in the motor in sequence (stepped). Stepping motors are
designed for fine control and will not only spin on command, but can spin at any number of steps-
per-second (up to their maximum speed).

Servomotors. Servos are simple DC motors with gearing and a feedback control system.
They adjust themselves until they match the signal. Servos are used in radio control airplanes and
cars.

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2.5.3 Mechanisms
Gears and chains. Gears and chains are mechanical parts that provide a mechanism to
transmit rotational motion from one place to another with a possibly of changing it along the way.
The speed change between two gears depends on the number of teeth on each gear.
Pulleys and belts. Pulleys and belts, two other simple machines used in robots, work the
same way as gears and chains. Pulleys are wheels with a groove around the edge, and belts are the
rubber loops that fit in that groove.
Gearboxes. A gearbox operates on the same principles as the gear and chain, without the
chain. Examples of gearboxes are found on the transmission in a car and the paper-feed of a
printer.

2.5.4 Sensors
Robots operate according to a basic measurement, requiring different kinds of sensors. A
sense of time is usually built-in through perceptual hardware and software, which updates quickly.
Sensors interact with external environment and transforms the energy associated with what is being
measured (sound, light, pressure, temperature, etc.) into another form of energy. Common sensors
used in robotics include light sensors, touch sensors, sound sensors, and acceleration sensor.
A sound sensor is installed at the ear position of the robot in order to detect the voice of a subject.
An acceleration sensor is installed in the body to detect shaking. A touch sensor is installed in the
forehead of the robot to detect touch.

2.5.5 Power Supply

In general, power supply is provided by two types of sources: batteries that are used once
only and then discarded; and rechargeable batteries that operate from a reversible chemical
reaction and can be recharged thousand times. The first use of a rechargeable battery gives up to
4 hours of continuous operation in an application.

2.5.6 Control System

There are two main systems to control robots: logic circuit and a microcontroller.

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Logic Circuit; A digital logic circuit controls the mechanical system. The circuit is usually
coupled to the mechanical structure through a bridge relay. A control signal generates a magnetic
field in the relay's coil that mechanically closes a switch. Transistors, for example, are good silicon
switches, available in many technologies to control the mechanical systems.
Microcontroller; Microcontrollers are intelligent electronic devices that are used inside
robots. They deliver functions similar to those performed by a microprocessor (CPU) inside a
personal computer. Microcontrollers are slower and have less memory than CPUs, but are designed
for real-world control problems. One of the major differences between CPUs and microcontrollers
is the number of external components needed to operate them. Microcontrollers may run with no
external parts, and typically need only an external crystal or oscillator.
There are three main characteristics of a microcontroller for consideration: speed, size, and
memory. Speed is designated in clock cycles, and is usually measured in millions of cycles per
second (Megahertz, MHz). Size specifies the number of bits of information the Microcontroller
can process in one step (for example, 4-, 8-, 16-, and 32-bits). Microcontrollers count most of
their read-only memory (ROM) in thousands of bytes (kb) and random access memory (RAM)
in single bytes.

2.6 DESIGN ATTRIBUTES

Design attributes represent the factors which are considered while designing.
Generally;

2.6.1 Degree Of Freedom

In mechanics, the degree of freedom (DOF) of a mechanical system is the number of
independent parameters that define its configuration. It is the number of parameters that determine
the state of a physical system and is important to the analysis of systems of bodies in mechanical
engineering, aeronautical engineering, robotics, and structural engineering. Each degree of
freedom is a joint on the arm, a place where it can bend or rotate or translate. You can typically
identify the number of degrees of freedom by the number of actuators on the robot arm.

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2.6.2 Work Volume

A space on which a robot can move and operate its wrist end is called as a work volume.
It is also referred as the work envelope and work space. For developing a better work volume,
some of the physical characteristics of a robot should be considered such as:
1. The anatomy of various robots
2. The maximum value for moving a robot joint
3. The size of the robot components like wrist, arm, and body

2.6.3 Structure

Robot kinematics applies geometry to the study of the movement of multi-degree of

freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry
means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide
pure rotation or translation.

Robot kinematics studies the relationship between the dimensions and connectivity of
kinematic chains and the position, velocity and acceleration of each of the links in the robotic
system, in order to plan and control movement and to compute actuator forces and torques. The
relationship between mass and inertia properties, motion, and the associated forces and torques is
studied as part of robot dynamics.

Structure of robotic arm depends upon the number of kinematic links and pairs. The
motion of robotic arm depends upon the relative movement between successive pairs.

2.6.4 Functional Attributes

The end effector, or robotic hand, can be designed to perform any desired task such as
welding, gripping, spinning etc., depending on the application. For example robot arms in
automotive assembly lines perform a variety of tasks such as welding and parts rotation and
placement during assembly. In some circumstances, close emulation of the human hand is desired,
as in robots designed to conduct bomb disarmament and disposal.

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2.6.5 Material Selection

Raw construction materials should be chosen for their suitability for the job, as well as
their machining and shaping requirements, not by their price or availability. Bear in mind the tools
and skills you have, and match the materials to them. A cheap piece of old wood is hardly a good
choice for a robot body, though it may be free and no further away than the shed. The wood may
be warped and weak or full of termites; if your time and temperance matter to you, avoid materials
that cause extra work and frustration.

2.7 SOFTWARE REVIEW

2.7.1 Solid Works

SolidWorks is solid modeling CAD (computer-aided design) software that runs
on Microsoft Windows and is produced by Dassault Systems SolidWorks Corp., a subsidiary
of Dassault Systems, S. A. (Vélizy, France). SolidWorks is currently used by over 2 million
engineers and designers at more than 165,000 companies worldwide. FY2011 revenue for
SolidWorks was 483 million dollars.

2.7.2 PTC Creo 2.0

PTC Creo, formerly known as Pro/ENGINEER is a parametric, integrated
3D CAD/CAM/CAE solution created by Parametric Technology Corporation (PTC). It was the
first to market with parametric, feature-based, associative solid modeling software. The application
runs on Microsoft Windows platform, and provides solid modeling, assembly
modelling and drafting, finite element analysis, direct and parametric modelling, sub-divisional
and nurbs surfacing, and NC and tooling functionality for mechanical engineers.

2.7.3 Catia V5R20

CATIA (Computer Aided Three-dimensional Interactive Application) is a multi-

platform CAD/CAM/CAE commercial software suite developed by the French company Dassault
Systems. Written in the C++programming language, CATIA is the cornerstone of the Dassault
Systems product lifecycle management software suite. CATIA competes in the high-end
CAD/CAM/CAE market with Creo Elements/Pro and NX (Unigraphics).

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2.8 APPLICATIONS OF ROBOT TECHNOLOGY

Robot technology is implemented all over the world in different fields

In Space; The Shuttle's robotic arm has performed many kinds of tasks over the years. It
has set satellites into orbit and retrieved others for repair. The first time Canadarm was used in
one of many International Space Station (ISS) assembly missions was for Mission STS-88,
December 1998.

Fig no: 2.1 Canadarm

The Canadarm of Space Shuttle Discovery with the inspection boom and laser camera
system to inspect hard-to-reach areas for damage and help ensure the safety of the astronauts.
Photo: NASA

Canadarm has always performed flawlessly. It supports astronauts during spacewalks. Its
elbow and wrist joint cameras have provided visual inspection of the Shuttle and its payload. It
has knocked ice off the Shuttle's wastewater dumping vents and loosened a jammed solar array
panel.
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And it has had two IMAX cameras attached to its lower boom so the experience of space
could be brought to the movie theatre for everyone to enjoy.

On Earth; the robotic technology used in Canadarm provides humanlike dexterity here
on Earth in a variety of environments. These may include servicing nuclear power stations,
welding and repairing pipelines on the ocean floor, remote servicing of utility power lines, or
cleaning up radioactive and other hazardous wastes.

For example, MacDonald, Dettwiler and Associates Ltd. (MDA), which developed
Canadarm, has also designed a Light Duty Utility Arm system to inspect and analyze
radioactive waste in underground storage tanks. This system consists of a modular, seven-joint
manipulator attached to a telescopic vertical positioning mast. A mobile system deploys the
manipulator in the tank.

Remotely operated robotic systems have enjoyed wide application in industry and other
fields. In medicine, Canada has been a leader in the development of techniques involving
robotic surgery operated from a remote location.

A medical benefit; The Seaman Magnetic Resonance Centre in Calgary has teamed up
with MDA Space Missions to adapt space robotics for use in surgery. The benefits are improved
accuracy, efficiency, and the quality of patient care. "NeuroArm" uses miniaturized tools such
as laser scalpels with pinpoint accuracy and it can also perform soft tissue manipulation, needle
insertion, suturing, and cauterization.

The Centre for Minimal Access Surgery at McMaster University's St. Joseph's Hospital
is a telesurgery pioneer. In a successful pilot project, the surgeon directed medical staff from a
remote, high technology, operating console and conducted robotic surgical operations on
patients hundreds of kilometers away in a hospital in North Bay, Ontario.

The Canadian Space Agency (CSA) has promoted the application of this medical
technology for missions here on Earth involving Canadian astronauts Robert Thirsk (Neemo 7)
and Dave Williams (Neemo 9).

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CHAPTER 3
EXPERIMENTAL SETUP

3.1 MECHANICAL DESIGNING

The overall design of proposed robot arm design is presented below in Figure .It was
decided that a few key features were necessary for the overall arm’s design. This included a firm
base that is capable of rotating in plane with the ground plane, a pair of articulating arms to give
multiple degrees of freedom, a drive system, and a gripping claw to give the robot arm purpose.
As this was a group project, the model was split into sections for each person to work with, placing
a member on the arms, the claw, the base, and the assembly each. This was to give each member
a chance to get hands on in terms of modeling time and to work together on dimensioning and
troubleshooting.

Fig no: 3.1 Design

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3.2 COMPONENTS

Our robotic arm consists of 10 components which are assembled together to obtain the
design above.

3.2.1 Wheel

Wheel is the part which is used for the motion of entire system which has an external
diameter: 120mm and thickness: 3.54mm

Fig no: 3.2 Wheel

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3.2.2 Base

The base serves as the foundation for the entire arm while providing rotational movement.
All motors, besides the one for the hand, are stored within the base as well. The base adds one
degree of freedom to the robotic arm.

Fig no: 3.3 Base

The base has the length 30 mm, width 25 mm provided number of holes to houses the
eliminator clamp, stepper motor, wheel etc.

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3.2.3 Stepper Motor

A stepper motor (or step motor) is a brushless DC electric motor that divides a full
rotation into a number of equal steps. The motor's position can then be commanded to move and
hold at one of these steps without any feedback sensor (an open-loop controller), as long as the
motor is carefully sized to the application.

Fig no: 3.4 Stepper Motor

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3.2.4 Shoulder
Shoulder is a disc like structure has external diameter 120 mm and thickness 1 mm which

houses motor clamp and function of shoulder is to provide 360 degree rotation of arm.

Fig no: 3.5 Shoulder

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3.2.5 Eliminator
A battery eliminator is a device powered by an electrical source other than a battery,
which then converts the source to a suitable DC voltage that may be used by a second device
designed to be powered by batteries. A battery eliminator eliminates the need to replace batteries
but may remove the advantage of portability. A battery eliminator is also effective in replacing
obsolete battery designs.

Fig no: 3.6 Eliminator

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3.2.6 Arms
The arm was designed as two sections, with reusing as many parts as possible for
simplification of manufacturing.

Fig no: 3.7 Arms

The arm moves with a help of stepper motor and the rotary motion provide by shoulder.
The overall length of arm is 21mm and thickness is 2 mm.

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3.2.7 Arm Support

Arm support which has function of supporting the arm and which has length 5 mm and
width 10 mm and thickness 2.3 mm.

Fig no: 3.8 Arm Support

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3.2.8 Motor Clamp

Motor clamp used for several clamping purposes which has assembled structures of two
rectangles and upper rectangle has length 4.85 mm and lower has 2.85 mm and each rectangle has
5 mm width which provide number of holes.

Fig no: 3.9 Motor Clamp

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3.2.9 End Effector

In robotics, an end effector is the device at the end of a robotic arm, designed to interact
with the environment. The exact nature of this device depends on the application of the robot.

In the strict definition, which originates from serial robotic manipulators, the end effector
means the last link (or end) of the robot. At this endpoint the tools are attached. In a wider sense,
an end effector can be seen as the part of a robot that interacts with the work environment. This
does not refer to the wheels of a mobile robot or the feet of a humanoid robot which are also not
end effectors—they are part of the robot's mobility.

End effectors may consist of a gripper or a tool. The gripper can be of two, three or even
five fingers.

The end effectors that can be used as tools serve various purposes, such as spot welding in
an assembly, spray painting where uniformity of painting is necessary, and for other purposes
where the working conditions are dangerous for human beings. Surgical robots have end effectors
that are specifically manufactured for the purpose.

3.2.9.1 Gears
The end effector consist of two gears namely left and right .The left and right gear meshed
each other so the movement one gear can be transmitted to other gear .The gear consist of gripper
which capable of holding component.

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3.2.9.1.1 Right Gear

Fig no: 3.10 Right Gear

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3.2.9.1.2 Left Gear

Fig no: 3.11 Left Gear

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3.3 COMPONENTS AND SPECIFICATIONS

Table no: 3.1 Components and Specifications

COMPONENTS SPECIFICATIONS NUMBER

BASE Al-1060-H18 rod (ss) 1

ARM Al-1060-H18 rod (ss) 2

ARM SUPPORT Al-1060-H18 rod (ss) 1

ELIMINATOR Al-1060-H18 rod (ss) 1

LEFT GEAR Al-1060-H18 rod (ss) 1

RIGHT GEAR Al-1060-H18 rod (ss) 1

MOTOR Al-1060-H18 rod (ss) 9

MOTOR CLAMP Al-1060-H18 rod (ss) 5

SHOULDER Al-1060-H18 rod (ss) 1

WHEEL Al-1060-H18 rod (ss) 4

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3.4 ASSEMBLY PROCESSES

The entire structure drawn separately according to the dimension. The process assembly
was done in solid works. The part assembled by selecting the appropriate planes of each part after
selecting the part we call for assembly. So the parts may occupied in the appropriate position. The
assembled structure of the robotic arm as follows.

Fig no: 3.12 Base with Motor Clamp

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Fig no: 3.13 Assembling Stepper Motor

Fig no: 3.14 Assembling Wheels

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Fig no: 3.15 Assembling base completely

Fig no: 3.16 Assembling Shoulder

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Fig no: 3.17 Shoulder with Motor Clamp

Fig no: 3.18 Assembling 1ST Arm

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Fig no: 3.19 Assembling 2nd Arm

Fig no: 3.20 Assembling with Arm support

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Fig no: 3.21 Assembling Gears

Fig no: 3.22 Final Assembly

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CHAPTER 4
RESULTS AND DISCUSSIONS

4.1 MECHANISM MODEL ANALYSIS

The main purpose of the robot arms is to move goods from one location to the next. If the
arm is to be used to move delicate objects, the kinematics relations must be known to ensure that
no damage is done to the object or the robot arms. The measures function in Pro-E was used to
define a point where all of the kinematic measurements would be measured at. Although a number
of different locations could be used to have been chosen to baseline the robotic arms motion
characteristics, it was determined that a point lying in the center of the claw base, as shown in
Figure 1, would be the best location. The point is positioned on the pivot axis of the arms and
perfectly centered between the two holes in the claw base. This point experiences nearly identical
displacement, velocity and acceleration values as the object being held. It far enough away from
the arm to eliminate the possibility of any extraneous acceleration or velocity caused by rotation
of the base, but close enough to the claw points to experience similar centripetal and tangential
acceleration loads as the grasped object. The points would experience nearly all changes in velocity
in kinematic values except rotation of the wrist. The point is located along the rotation axis of the
“wrist” of the claw. By placing the point along the axis, the point is further isolated from outside
influences of radial acceleration. If the point were placed on the claw tip, the data would be skewed
by the rotation of the wrist, thusly causing a spike in displacement, velocity and acceleration
whenever the claw was rotated while the base and/or armatures were rotating.

4.2 BASICS OF MATLAB

Matlab (matrix laboratory) is a numerical computing environment and fourth-generation

programming language. Developed by Math Works, MATLAB allows matrix manipulations,
plotting of functions and data, implementation of algorithms, creation of user interfaces, and
interfacing with programs written in other languages, including C, C++, and Fortran. Although
MATLAB is intended primarily for numerical computing, an optional toolbox uses the symbolic
engine, allowing access to computing capabilities. An additional package, Simulink, adds

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graphical multi-domain simulation and Model-Based Design for dynamic and embedded systems.
In 2004, MATLAB had around one million users across industry and academia. MATLAB users
come from various backgrounds of engineering, science, and economics. MATLAB is widely used
in academic and research institutions as well as industrial enterprises. Vectors/Matrices
MATLAB is a "Matrix Laboratory", and as such it provides many convenient ways for creating
vectors, matrices, and multi-dimensional arrays. In the MATLAB vernacular, a vector refers to a
one dimensional (1×N or N×1) matrix, commonly referred to as an array in other programming
languages. A matrix generally refers to a 2-dimensional array, i.e. an m×n array where m and n
are greater than or equal to 1. Arrays with more than two dimensions are referred to as
multidimensional arrays. Structures MATLAB supports structure data types. Since all variables
in MATLAB are arrays, a more adequate name is "structure array", where each element of the
array has the same field names. In addition, MATLAB supports dynamic field names (field look-
ups by name, field manipulations etc.). Unfortunately, MATLAB JIT does not support MATLAB
structures, therefore just a simple bundling of various variables into a structure will come at a cost.

4.3 PERFORMANCE CURVE

Fig no: 4.1 Angular Velocity

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Fig no: 4.2 Angular Acceleration

4.4 RESULT TABLE

Table no: 4.1 Result of analysis

Max Height 7.08 ft.

Max Horizontal Reach 6.5 ft.
Max Lift Load at Max Reach 32 lb.
Volume 1.86 ft. 3

Surface Area 28.33 ft.2

Average Density 𝑙𝑏
27.96
𝑖𝑛3

Weight 229.77 lb.

Max Operating Range Load 141 lb.

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4.5 ROTATIONS
It represents the rotational movements and degrees of freedom which the robot moves.

Fig no: 4.3 Rotational Moments

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4.6 PROPERTIES OF MATERIAL USED

Table no: 4.2 Properties of material used

Applications Commonly used in the manufacture of industrial equipment
chemical equipment and railroad tank cars.

Machinability The machinability of AL 1060 is fair to good, especially in the soft

temper conditions. In the harder (cold worked) tempers such as
H16 and H18 the machining characteristics are improved. Either
carbide or high-speed steel tooling may be used and use of
lubricants is recommended, although some cutting may be done
dry.

Forming This alloy has excellent forming capability by cold or hot working
with commercial techniques.

Welding AL 1060 may be welded by standard commercial methods. If filler

rod is required it should be of AL 1060. A precaution should be
noted for the use of resistance welding as by this method some trial
and error experimentation may be required to obtain good results.

Heat This alloy does not harden by heat treatment. It may be annealed
Treatment after cold working. See "Annealing".

Forging This alloy may be forged in the temperature range of 950 to 700 F.

Hot Working Hot working, if required, may be done in the range of 900 to 500
F.

Cold Working The cold working characteristics of AL 1060 are excellent. It can
readily be cold worked by all conventional methods.

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Annealing Annealing may be done at 650 F followed by air cooling.

Tempering Not applicable.

Hardening The alloy hardens only from cold working. Tempers H12, H14,
H16and H18 are determined by the amount of cold working
imparted into the alloy.

Other Electrical conductivity 55% of copper.

Physical Props

Other Shear strength of annealed (O temper) is

Mechanical 7K. For H14 temper it is 9 K and for H18
Props temper 11 K.

4.7 PROPERTIES OF ALUMINUM

Table no: 4.3 Properties of Aluminum

PROPERTY VALUE UNITS

Elastic modulus 6.9e+010 N/m^2

Poisson's ratio 0.33 N/A
Shear modulus 2.6e+010 N/m^2
Mass density 2705 kg/m^3
Tensile strength 130000000 N/m^2
Compressive Strength in X 108000000 N/m^2
Yield strength 2.4e-005 N/m^2
Thermal expansion coefficient 230 /K
Thermal conductivity 900 W/(m·K)
Specific heat J/(kg·K)
Material Damping Ratio N/A

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4.8 ANALYSIS CONCLUSION

This project presented the Kineto-Elasto dynamic analysis of robot manipulator. The end-
effectors holding an object and passing through a considered path trajectory. Inverse kinematic
analysis has been performed for finding the corresponding link positions. Dynamic analysis is
performed to find the velocities and accelerations for moving the end-effectors in the considered
path trajectory with the help of MATLAB-2008a software.

4.9 FUTURE SCOPE

1. The robotic programming language can be modified and that can be incorporated and
tested with puma robot for getting accurate path trajectory of the end effectors according
to the result obtained in this theses work.
2. This analysis may be further extended by considering the inertia effect due to the speed
increased in the robot arm. Feedback control for position, velocity and acceleration can be
incorporated in the analysis.

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CHAPTER 5

CONCLUSION

The robotic arm designed could be used in a variety of setting from manufacturing to
household use for the elderly. The initial design of this robotic arm could prove to be useful in a
manufacturing setting, but could be greatly improved with the addition of a few changes. The
functions defining the motion of the arm could be modified to include smooth transitions between
steps making the entire system more conducive to kinematic analysis. The lifting capabilities of
the arm are limited primarily by its weight and size of base; modifications to this would result in
the robotic arm being much more suited for heavier industrial work.

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CHAPTER 6

REFERENCE

1. Ankit Gupta, Mridul Gupta, Neelakshi Bajpai, Pooja Gupta, Prashant Singh, Efficient
Design and Implementation of 4-Degreeof Freedom Robotic Arm, International Journal of
Engineering and Advanced Technology (IJEAT)ISSN: 2249 – 8958, Volume-2, Issue-5,
June 2013

2. Ashraf Elfasakhany, Eduardo Yanez, Karen Baylon, Ricardo Salgado, Design and
Development of a Competitive Low-Cost Robot Arm with Four Degrees of Freedom,
Modern Mechanical Engineering, 2011

3. Bradley J. Thomson, Peter H. Schultz, and Nathan T. Bridges, Extracting scientific results
from robotic arm support operations: A technique for estimating the density and
composition of rocks on Mars, The International Journal of Mars Science and Exploration

4. Puran Singh*, Anil Kumar, Mahesh Vashisth, Design of a Robotic Arm with Gripper &
End Effector for Spot Welding, Universal Journal of Mechanical Engineering 1(3): 92-97,
2013,DOI: 10.13189/ujme.2013.010303

5. Anthropometric Source Book Volume II: A Handbook of Anthropometric Data, NASA

reference publication 1024, Yellow Springs, Ohio: Webb Associates, 1978

6. D.G. Caldwell, C. Favede, and N. Tsagarakis, “Dextrous exploration of a virtual world for
improved prototyping,” in Proc. of the IEEE Intl. Conf. on Robotics and Automation,
Leuven, Belgium, May 1998, pp.298–303.

7. J.J. Craig, Introduction to Robotics Mechanics and Control, 3rd ed. Upper Saddle River,
NJ: Prentice Hall, 2005.

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8. S.C. Jacobsen, F.M. Smith, D.K. Backman, and E.K. Iverson, “High performance, high
dexterity, force reflective teleoperator II,” In ANS Topical Meeting on Robotics and
Remote Systems, Albuquerque, N.M. 1991, pp.393-402.

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