SCHOOL OF ENGINEERING
DEPARTMENT OF MECHANICAL AND PRODUCTION ENGINEERING
COURSE CODE: PRD5 80
COURSE TITLE: FINAL YEAR PROJECT
DESIGN AND FABRICATION OF A ROBOT FOR TRAINING
PRESENTED BY: Dennis Chesire
PRESENTED TO: DR. A.N. MAYAKA
Submitted To The Department Of Mechanical And Production Engineering In Partial Fulfillment Of The Requirements For The Award Of Bachelor Of Technology Degree In Mechanical And Production Engineering
Academic year 2007/2008
I hereby declare that this is my original work and has not been submitted for any award in any institution or university.
SIGN …………………………… DATE …....................................
I have read this project report and approved its presentation for examination.
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I dedicate this design work to my family and all my friends for their inspiration and assistance even in times of difficulty.
The completion of this project would have been impossible without the help received from many people. First I would like to thank the Almighty Father in heaven for having brought me this far. To God be glory forever and ever. I would also like to thank Dr. A.N. Mayaka for the priceless moral and technical advice he gave throughout the design process of this project. Thank you for the shared documents and materials and the precious time you gave, out of your ever busy schedule. I acknowledge the assistance of the Head of Department, Dr. Boaz Korir for coming to my aid when Dr. A.N. Mayaka was away. I would like to acknowledge all my lecturers for the tireless effort they have put in my training. Mr. Kimutai the effort you put towards this project cannot go unmentioned. I want to also extend my sincere appreciation to all the Mechanical Engineering Department technicians, specially mentioning Mr. Akwiri and Mr. Oduor My parents, I will not forget your self sacrifice in an effort to support me all through my college life. Last but not least, all my classmates, I am very grateful.
May God bless you all.
In this project an introduction on the need of adequate training on automation in higher learning institutions is looked into in a systematic way. First there is a general introduction of robotics in chapter one, robot classifications and robot applications is in chapters three and four. Chapter five consists of the design alternatives and their analysis. General introduction on component manufacture is given in chapter six. Cost analysis and the conclusion and recommendations are done in chapters seven and eight. TABLE OF CONTENTS
TABLE OF FIGURESviii
LIST OF TABLESix
LIST OF APPENDICESx
1.0 CHAPTER ONE1
1.1 GENERAL INTRODUCTION1
1.2 PROBLEM STATEMENT2
1.5.1 General objective6
1.5.2 Specific objectives6
1.6.1 Source of data7
1.6.2 Target market for design7
2.0 LITERATURE REVIEW8
2.1.1 What is a Robot?8
2.2 ROBOT GENERATIONS10
2.3 Robot systems10
2.4 CLASSIFICATION OF ROBOTS11
2.4.1 Classification based on structural configuration and robot motion.11 22.214.171.124 Revolute (jointed arm) robot12
126.96.36.199. Polar (spherical) robot13
188.8.131.52 Cylindrical robot14
184.108.40.206 Cartesian (rectangular) robot, sliding type14 220.127.116.11 Cartesian (rectangular) robot, gantry-type14
18.104.22.168. SCARA- type robot15
2.4.2 Basic robot motions16
22.214.171.124 Six degrees of freedom16
2.4.3 Classification based on path control17
126.96.36.199Point-to-point (PTP) control17
188.8.131.52Continuous path (CP)...