ROBOT HAVING 1 DOF

ALI NAWAZ (335) JUNAID IQBAL (315)SALMAN MUNEER (338) ABDUL MAJID (305)

1

Outline

Objective Overview Kinematic Links and joints Kinematic Pairs and Structure DOF Kinematic chain and Four Bar Mechanism Materials Applications

2

Objective

Robot having 1 DOF

3

Robot Having 1 DOF

Over View:

In this robot different links and joints are use which are connecting each other with the help of chain, providing the capability to move the robot at 1 DOF. Basically it is a Mechanical Robot works with the continuous supply of electricity, having ability to carry loads.

4

Kinematic Links & Joints

KINEMATIC LINKS: Each part of machine which moves relative to some other part Kinematic link is meant by resistant body not a rigid body Kinematic links are the basic parts of any type of machine

JOINTS: A point where at least two links are connected with each other. In joints, relative motion can be occur between two links.

5

Kinematic Links & Joints

6

Kinematic Pairs And Structures

KINEMATIC PAIRS: When two links comes in contact with each other, they form a pair and

they perform a relative motion. The relative motion in pairs always occur in a definite direction.STRUCTURES: Assemblage of resistant bodies having no relative motion between the

links. Structures are use only to support. Also use to carry loads having straining actions. 7

Degree of Freedom

The system degree of freedom is equal to the number of independent parameters which are made to define its position in space at any instant of time.

In Space, A link has 6 DOF. In Plane, A link has 3 DOF.

8

Kinematic Chains And Four Bar Mechanism

Kinematic Chain:When the kinematic pair are coupled in such a way that last link is joint with first link to transmit definite motion, is called Kinematic Chain. Definite motion must be completely or successfully constrained.Four Bar Mechanism:Kinematic Chain with four links having one link is fixed is called a Four Bar Mechanism. All the grounded links considered as 1 link.

9

Kinematic Chains And Four Bar Mechanism

10

Materials

Rejected: Acrylic: having low cost, high strength, good resistant to corrosion but it

can not be used for this Project because it has no capability to lift the heavy weights.

Aluminum: having high strength, low weight, good resistant to corrosion but it can not be used for this Project because it has high cost.

11

Materials

Selected: Steel: having high strength, moderate weight and economical cost

suited for the selected Project

12

Applications

To carry the objects from one place to another place. For the Detective Purposes. For Emergency Purposes.

13

Robot having 1 DOF