Multi-Dof Robotic Arm Assembly for Press Shops

Only available on StudyMode
  • Download(s) : 312
  • Published : November 1, 2011
Open Document
Text Preview
UNIVERSITY OF PUNE

A PROJECT REPORT ON

AN INNOVATIVE MULTI-DOF ROBOTIC ARM ASSEMBLY FOR PRESS SHOPS

SUBMITTED BY MANDAR HARSHE COLIN MENEZES BHUSHAN WALZADE B3320815 B3320828 B3320850

UNDER GUIDANCE OF PROF. L. G. NAVALE

DEPARTMENT OF MECHANICAL ENGINEERING MODERN EDUCATION SOCIETY’S COLLEGE OF ENGINEERING PUNE- 411001 YEAR 2006-2007

Modern Education Society’s College Of Engineering Pune – 411001 CERTIFICATE

THIS IS TO CERTIFY THAT THE PROJECT REPORT

AN INNOVATIVE MULTI-DOF ROBOTIC ARM ASSEMBLY FOR PRESS SHOPS SUBMITTED BY

ENTITLED

MANDAR HARSHE COLIN MENEZES BHUSHAN WALZADE

B3320815 B3320828 B3320850

IN PARTIAL FULFILLMENT FOR THE AWARD OF DEGREE OF B.E. (MECHANICAL ENGINEERING) OF THE UNIVERSITY OF PUNE, PUNE IS APPROVED.

PROF. L. G. NAVALE
Project Guide Mech. Engg. Dept.

PROF. V. N. CHOUGULE
H.O.D. Mech.Engg. Dept

DR. L. G. NAVALE
Principal MESCOE, Pune.

EXAMINER

Acknowledgements
We would like to express our sincere thanks to Mr. Hemachandra Shrotri, M.D. of Nirmiti Stampings Pvt Ltd, for giving us an opportunity to work on this project. His vast experience and guidance have been especially valuable to us. We are also grateful to Prof. L. G. Navale for his inspiration and guidance. Prof. K. H. Munde helped us in the initial stages of the work, and his inputs resulted in the publication of a paper in the International Conference on Advances in Machine Design and Industry Automation 2007. We are extremely grateful for his help.

We would like to thank Prof. V. N Chougule, the head of the Mechanical Department, for allowing us to undertake this project and provide us the necessary help. We received valuable help on the electrical and electronics aspects of the project from Prof. Aasma Shaikh of the Electronics & Telecommunication Department, Prof. Mrs. Dharmadhikari and Prof. B. H. Deshmukh of the Electrical Department. Prof. V. Sugur and Prof A. Mitra of the Mechanical Department helped us in matters concerning their specializations.

Details and technical support on the various products available in the market are especially hard to come by. In this regard, we thank the technical staff of Srijan Control Drives Ltd, Festo Controls Pvt. Ltd, Albro iii

Engineers and Armatech Pvt. Ltd for their help and patience in explaining the various products available and helping us select those suitable for our application requirements. We would like to thank Mr. Satish Nikam of Nirmiti Stampings Pvt. Ltd, who was in charge of the manufacturing works of the project.

A project of such a wide spectrum requires inputs from numerous fields. We are thankful to the faculty of our department and also to all our colleagues who helped us with their inputs at various stages of the project. Finally, we would like to thank our colleagues Mr. Parikshit Dhodapkar, Mr. Gaurav Kakati and Mr. Paresh Panditrao,of the E&TC Department, who worked on the electronic controls of the robot and Mr. Nitant Harani of the Mechanical Department for helping us in Finite Element Analysis of the manipulator.

Mandar Harshe

Colin Menezes

Bhushan Walzade

iv

CONTENTS

v

Contents
Certificate Acknowledgements List of Figures List of Tables Abstract I Company Profile II Problem Analysis Problem Description

i iii viii xii 1 2 11
12

Robot Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1 Literature Survey 14

1.1 Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.1.1 1.1.2 1.1.3 Robot Anatomy . . . . . . . . . . . . . . . . . . . . . . . 15 Robot Motions . . . . . . . . . . . . . . . . . . . . . . . . 15 Work Volume . . . . . . . . . . . . . . . . . . . . . . . . . 19

CONTENTS
1.1.4 1.1.5 1.1.6 1.1.7 1.1.8

vi Robot Drive System . . . . . . . . . . . . . . . . . . . . . 19 Control Systems . . . . . . . . . . . . . . . . . . . . . . . 21 End Effectors . . . . . . . . . . . . . . . . . . . . . . . . 21

Grippers . . . . . ....
tracking img