Department of Mechanical Engineering

<<ROBOTICS LAB>>

LAB No. 01
LAB Name: Modeling of Prismatic Joint with Ball Bearing and Brushed DC
Motor in SolidWorks Using Linear Sliding Mechanism

Name of Student: Nimra Nadeem

Registration No.: 04-3-1-041-2020
Signature of Student:

Lab Instructor: Sir Saim

Submitted to: Dr. Nasir Rehman
Signature of Lab Instructor:
Date of Report Submission: 21/11/2023
Table of Contents
Abstract......................................................................................................................................................... 3
Introduction .................................................................................................................................................. 3
1. Brushed DC Motor ............................................................................................................................... 3
2. Prismatic Joint ...................................................................................................................................... 3
3. Linear Guide Rails: ............................................................................................................................... 4
4. Ball Bearings: ....................................................................................................................................... 4
5. Lead Screw or Drive Mechanism: ........................................................................................................ 4
6. Coupling: .............................................................................................................................................. 4
7. End Effector or Load: ........................................................................................................................... 4
Procedure ...................................................................................................................................................... 5
1. Design of Rail ....................................................................................................................................... 5
2. Slider..................................................................................................................................................... 5
3. Design of Nut........................................................................................................................................ 6
4. Design of Base ...................................................................................................................................... 6
5. Design of Motor.................................................................................................................................... 6
6. Design of Ball Screw ............................................................................................................................ 7
7. Ball Bearing .......................................................................................................................................... 7
8. Final Assembly ..................................................................................................................................... 7
Discussion ..................................................................................................................................................... 8
Conclusion .................................................................................................................................................... 8

List of Figures
Figure 1 Gear attached brushed DC motor ..................................................................................... 3
Figure 2 Prismatic joint ................................................................................................................... 4
Figure 3 Linear Sliding Mechanism................................................................................................ 4
Figure 4 Design of Rail ................................................................................................................... 5
Figure 5 Design of Slider ................................................................................................................ 5
Figure 6 Design of nut .................................................................................................................... 6
Figure 7 Design of base .................................................................................................................. 6
Figure 8 Design of motor ................................................................................................................ 6
Figure 9 Design of Ball Screw ........................................................................................................ 7
Figure 10 Design of Ball Bearing ................................................................................................... 7
Figure 11 Final Assembly ............................................................................................................... 7
Abstract
The main objective of this lab was to design the prismatic joint with ball bearing to convert rotary
motion into linear motion and to understand motion control from DC motor by using linear sliding
mechanism. Parts of this mechanism such as slider, rails, ball bearing, lead screw, bolts, nuts and
support plates were firstly measured, deigned and then assembled in Solidworks. The final design
was evaluated on its function and performances.

Introduction
Linear Sliding mechanism includes conversion of rotary motion from brushed DC motor into linear
motion using prismatic joint. This mechanism basically includes the following components

1. Brushed DC Motor
The motor, equipped with a gearbox on its shaft, delivers increased torque at lower speeds, making it well-
suited for moving loads along guide rails with added force. This choice ensures efficient performance in
the linear motion system. The gearbox reduces motor speed while boosting torque, aligning with the specific
requirements of the application. This design decision in SolidWorks accounts for factors such as desired
speed, torque, and precision, optimizing the motor's capabilities for the intended purpose. In SolidWorks
design, a DC gear motor was chosen for a linear motion application

Figure 1 Gear attached brushed DC motor

2. Prismatic Joint
A prismatic joint is a type of joint that allows translational motion along a specified axis. The
significance of a prismatic joint in robotics lies in its ability to provide precise and controlled linear
motion, contributing to the versatility and functionality of robotic systems. Prismatic joints are
essential components in the design of robotic arms and mechanisms, enabling the robots to
navigate, manipulate objects, and perform tasks with accuracy along a specified path usually in
straight path. This type of joint enhances the efficiency and adaptability of robotic systems, making
them well-suited for applications in manufacturing, automation, and various industries where
controlled linear movement is crucial for successful task execution.
 Figure 2 Prismatic joint

3. Linear Guide Rails:

• These are rigid structures along which linear motion occurs.
• Guide rails provide support and constrain the motion to a defined path.

4. Ball Bearings:
• Ball bearings are used to reduce friction between moving parts and provide smooth motion.
• They consist of small, spherical balls held in place by a cage, allowing for low-friction rotation.

5. Lead Screw or Drive Mechanism:

• A lead screw or another type of drive mechanism may be employed to convert the rotational
motion of the motor into linear motion along the guide rails.
• The lead screw is threaded, and as it rotates, it engages with a nut or other mechanism, causing
linear motion.

6. Coupling:
 A coupling connects the output shaft of the motor to the input of the lead screw or drive
mechanism, ensuring that rotational motion is efficiently transmitted.

7. End Effector or Load:

 The end effector or load is the component or tool that is attached to the linear guide system.
 This is what moves along the guide rails as a result of the motor's motion.

Figure 3 Linear Sliding Mechanism

Thus this integrated system of linear guide rails, prismatic joint and brushed DC motor offers
precise and controlled linear motion, providing robots with the capability to navigate their
environment with accuracy and execute tasks with finesse. The incorporation of a linear guide rail
ensures a defined and stable path for the prismatic joint, while ball bearings minimize friction,
enhancing the efficiency of the mechanism. The DC brushed gear motor adds torque and control,
making it a reliable choice for powering the prismatic joint in various robotic applications.

Procedure
Measure necessary dimensions of all parts of linear sliding mechanism for purpose of prismatic
joint modeling and then open solidworks.

1. Design of Rail
First Design rail on SolidWorks by first sketching the cross-section and then extruding it to the
desired length. The model tree and part geometry are shown below:

Figure 4 Design of Rail

2. Slider
Design sliders to slide on rails again by first sketching the cross section and then extruding it as
shown below:

Figure 5 Design of Slider

3. Design of Nut
Then Design nut on SolidWorks using extrude, extrude cut and thread features. The geometry for
nut is given below:

Figure 6 Design of nut

4. Design of Base
Design base simply by making a sketch and using Extrude Feature. The geometry of base is given
below:

Figure 7 Design of base

5. Design of Motor
Design motor on SolidWorks using Boss Extrude, Cut Extrude and Fillet features. The geometry
is given as:

Figure 8 Design of motor

6. Design of Ball Screw
Lastly for parts designing model Ball screw using Cut Thread Feature for external threading and
Extrude Feature. The geometry for Ball bearing is given below:

Figure 9 Design of Ball Screw

7. Ball Bearing
Pick up the suitable design from known website as shown below:

Figure 10 Design of Ball Bearing

8. Final Assembly
After application of particular mates and constraints, parts are assembled that ensure correct
movement and alignment of the mechanism using Solid Works to generate the mechanism of
prismatic joint using rail and slider. The final geometry is given as:

Figure 11 Final Assembly

Discussion
The design and assembly of a prismatic joint incorporating ball bearings and a brushed DC motor
through a linear sliding mechanism in SolidWorks presented a comprehensive exploration of
engineering principles and practical applications. Each component, meticulously designed with
specified dimensions, using a linear sliding mechanism with ball bearings, a brushed DC motor,
and SolidWorks, the design and construction of a prismatic joint offered a thorough examination
of engineering concepts and real-world applications. Every part, carefully crafted with precise
measurements, was essential to guaranteeing the joint's smooth operation.

The linear sliding mechanism was made up of several finely engineered components, each with a
distinct function. The linear guide system's ball bearing, a crucial component in lowering friction,
was painstakingly included to provide seamless linear motion. Precise consideration was given to
the incorporation of the brushed DC motor, which was chosen for its ease of use and controllability,
taking into account electrical connections and torque needs.

The linear guide rails, crafted with precise dimensions, provided the structural foundation for the
joint. The inclusion of ball bearings along the guide rails ensured low-friction motion, contributing
to the overall efficiency of the mechanism. The prismatic joint itself, designed for translational
motion along the specified axis, featured components such as sliders and guides, each tailored to
meet the requirements of controlled linear displacement.

Every component of the prismatic joint system was carefully aligned and integrated inside the
SolidWorks assembly environment. In order to prioritise utility and dependability, this technique
methodically integrated ball bearings, prismatic joint parts, brushed DC motor, and linear guide
rails. A tight fit was guaranteed by carefully entering measurements, accounting for tolerances,
and fine-tuning inside SolidWorks. Iterative changes then optimised the design for harmonic linear
motion. The completed assembly demonstrated a comprehensive design strategy by highlighting
the interdependencies between parts that enable a prismatic joint to function flawlessly. In addition
to improving SolidWorks modelling abilities, this practical experience gave useful insights into
integrating mechanical components for real-world applications. The prismatic joint that was
created is evidence of the effective combination of SolidWorks and precision engineering.

Conclusion
• Using SolidWorks to create the prismatic joint with ball bearings and a brushed DC motor was
an effective way to combine theoretical and practical work.
• Every component, crafted with precise dimensions, was essential to the seamless operation of
the joint.
• In addition to enhancing 3D modelling abilities, this experience realizes how crucial computer
tools are to bringing concepts to life.
• The finished prismatic joint is an excellent illustration of how engineering concepts and digital
modelling software may be used to produce something original and helpful.