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PRESENTED BY

PRAVEEN KUMAR

1210505

M.TECH MECHATRONICS

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*INTRODUCTION

*DESIGN

*REQUIREMENTS

*Schematic diagram

*Operation

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RP assembly robot is a combination of revolute andprismatic joint.

Assembly robots are widely used in industry now a daysfor various purposes and they play a vital role in the fastproduction and provides a great accuracy.

There are numerous robots are working day and night forassembly, packaging, material handling, and sortingwithout fatigue and with great accuracy.

Some of them are special purpose such asSCARA(Selective Compliant Articulated Robot Arm)

Robot Specially designed by CMERI Durgapur for Tataindustries for handling a payload of 60kg in 2009.

The purpose of our RP robot is also serving the same,material handling.

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The design of the robot is done considering the workspace

of the assembly of revolute and prismatic joint does that

work very well.

The control of the robot is done using PLC and actuation is

done using DC geared motor( Jonson motor).

Prismatic joint is actuated using rack and pinion and rotary

joint is using ball-bearing arrangement.

The structure is made of different material like acrylic

sheet, iron, aluminum sheet etc.

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PLC

Sensors

Limit switch

Proximity sensorsActuators

Gears

Mechanism

Rack and pinion arrangement.

Timing chain.

Electronics Circuit (H-Bridge).

Power Supply

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Gripper

Upper Position Indicator

Lower Left Position

(initial)

Right Lower Position

PartPositionA

PartPositionB

sssElevate And

Actuate

Device

Extendable

Arm Section

Left Upper

PositionRight Upper

Position

Arm Extended

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Arm is initially in the down-left position asshown in the figure.

Arm moves to upper position.

Arm rotates to right.

Hand extend to position A.Gripper closes.

Arm swings back to the left to position B.

Gripper opens (Releasing part).

Hand retracts.

Arm lower to the initial position.

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I take the idea of gripper is from vernier scale. In this scaleone end is fix & other is variable.

In my gripper one end is fix but other is variable ,in which I use

the concept of rack & pinion mechanism.

Degree of freedom of my gripper is one.

Schematic diagram of my gripper is given below.

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Design of base

Design of mechanism

Rack and pinion arrangement for vertical movement .

Timing chain and gear arrangement for horizontal

movement.

Mechanism for revolute joint assembly.

Design of gripper.

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*

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*

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1. Programming of plc.

2. Mounting of differentsensor.

3. Designing of gripper.

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