AMAJOR PROJECT

ON “MULTI-FUNCTIONAL OPERATING ROBOT”

SUBMITTED BY

AVINASH KUMAR YADAV 3023709008

MANOJ KUMAR SAHU 3023709025

N VENKATESHWAR RAO 3023709030

S VENKAT RAJA 3023709047

VIKRAM SAHU 3023709062

UNDER GUIDANCE OF

Asst. Prof. CHITRAKANT TIGER

DEPARTMENT OF MECHANICAL ENGINEERING

CHOUKSEY ENGINEERING COLLEGE OF ENGINEERING BILASPUR 495001

ABSTRACT

Design, manufacturing & maintenance of engineering product is become

crucial. By application of multifunctional operating robot, product are

processed in a wide range. For this purpose we utilize gripper system.

The goal of this project is to reduce manual handling of products in

industries & also to minimizing the hazard of drilling acrylic material and

risk of cracking.

This project deals with the design and control of robotic arm used to pick

and place & drilling applications.

CONTENT ABSTRACT

INTRODUCTION LITERATURE REVIEW LAW OF ROBOTICS HISTORY OF ROBOTICS

ROBOT ANATOMY MANIPULATOR JOINTS

DEGREE OF FREEDOM

ARM CONFIGURATIONS

WRIST CONFIGURATIONS

END EFFECTOR HUMAN ARM CHARACTERISTICS

PROBLEM IDENTIFICATIONS

SPECIFICATION

METHODOLOGY

PARTS

PROS

FUTURE SCOPE

INTRODUCTION

A machine that resembles a human and does mechanical routine tasks on command

Any machine or mechanical device that operates automatically with human like skill

ROBOT

The multifunctional robot is used to provide hands on the various

discipline of industrial work.

In this project we worked in the development in the multifunctional

robot which can move in any direction and pick up and put down

things also applicable for drilling purpose.

The goals of this project is to reduce manual handling of products

in industries.

simple repetitive task can be accomplished keeping the

demand of accuracy and speed in mind.

Literature review

To understand the purpose of this project, first it is important to clarify

the meaning of concept of robotics.

ROBOT DEFINED

Word robot was coined by a Czech

novelist Karel Capek in a 1920 play titled

Rossum’s Universal Robots (RUR)

Robota in Czech is a word for worker or

servant Karel Capek

Asimov proposed three “Laws of Robotics”

Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm

Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law

Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law

LAW OF ROBOTICS

History of Robotics: I

The first industrial robot: UNIMATE

1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Animation, which becomes the name of the first robot company (1962).

UNIMATE originally automated the manufacture

of TV picture tubes

History of Robotics: II

1978: The Puma (Programmable

Universal Machine for Assembly) robot

is developed by Unimation with a

General Motors design support

PUMA 560 Manipulator

History of Robotics: III1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments.

Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator

History of Robotics: IV

1995-present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research

2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars

Robot Anatomy

Manipulator consists of joints and links Joints provide relative motion Links are rigid members between

joints Various joint types: linear and rotary Each joint provides a “degree-of-

freedom” Most robots possess five or six

degrees-of-freedom Robot manipulator consists of two

sections: Body-and-arm – for positioning of

objects in the robot's work volume Wrist assembly – for orientation of

objects

BaseLink0

Joint1

Link2

Link3Joint3

End of Arm

Link1

Joint2

Manipulator Joints

Translational motionLinear joint (type L)Orthogonal joint (type O)

Rotary motionRotational joint (type R) Twisting joint (type T)Revolving joint (type V)

Degrees of Freedom Joints constraint free movement,

measured in “Degrees of

Freedom” (DOFs).

Links start with 6 DOFs,

translations and rotations around

three axes.

Joints reduce the number of

DOFs by constraining some

translations or rotations.

Robots classified by total number

of DOFs

ARM CONFIGURATION

Wrist Configurations

Wrist assembly is attached to end-of-arm End effectors is attached to wrist assembly Function of wrist assembly is to orient end

effectors Body-and-arm determines global position of end

effectors Two or three degrees of freedom:

Roll PitchYaw

Notation :RRT

END EFFECTOR

END EFFECTOR IS EXTERNAL TO THE MANIPULATOR

GRIPPER TOOL

HUMAN ARM CHARACTERISTICS

. The three motion to orient the hand,

which is the first part of human arm,

are approximately in the following

range.

-180<Roll<+90

-90<Pitch<+50

-45<yaw<+15

PROBLEM IDENTIFICATIONS

Handling dangerous material Assembling product

S p r a y f i n i s h i n g P o l i s h i n g & c u t t i n g

REDUCE MANPOWER

SPECIFICATION NO. OF DC MOTOR - 7

3 MOTOR – 30 RPM

2 MOTOR – 05 RPM

2 MOTOR – 200 RPM

NO. OF DRIVE WHEEL - 2

BASE - PLYWOOD

BODY – MILD STEEL

DPDT SWITCHES

END EFFECTORS

GRIPPER

TOOLS

METHODOLOGY

With the help of remote control system movement of robot can controlled.

ACTUATOR

• Actuators are mechanical devices which converts energy into motion

• The energy can be hydraulic, pneumatic or electric.

• In order to avoid the complexity we have chosen dc motor as actuator.

PARTS

DC MOTORS

WHEELS

Wheels are employed on the robot to provide the motion.

Non driven wheel

DOUBLE POLE DOUBLE THROW

GEAR BOX

Gear box is a motion transmission device which is used to control rpm of wheel.

SCREW JACK

BASE

BODY – MILD STEEL

END EFFECTORS

ADVANTAGE

Simplicity

Effective for plane surfaces

Cost Effective

Power Efficient

FUTURE SCOPES

AUTOMATION

SENSORS

SENSOR CAN BE AN INTEGRAL PART OF THE MANIPULATOR OR THEY

MAY BE PLACED IN THE ROBOT’S ENVIRONMENT OR WORKCELL TO

PERMIT THE ROBOT TO INTERACT WITH THE OTHER ACTIVITIES AND

OBJECTS IN THE WORKCELL.

Programming ……………..

REFERENCES ROBOTICS AND CONTROL BY R K MITTAL NAGRATH

Balch, T. & Arkin R. 1998. “Behavior-based Formation Control for Multi-robot Teams” IEEE Transactions on Robotics and Automation, 14(6).

YOUTUBE.COM WIKIPEDIA M. P. Groover, M. Weiss, R. N. Nagel, and N. G. Odrey. Industrial Robotics: Technology, Programming and Applications. McGraw-

Hill,1986. (www.kukaroboter.de) http://introrobotics.googlepages.com http://en.wikibooks.org/wiki/Robotics

THE END

All the glory in the world can be achieved by

only……………………….beginning…..