Hydraulic Robotic Arm
Short Description
project report...
Description
Syringe Actuated Mechanical Arm
CONTENT
SR. NO. 1
DESCRIPTION
PAGE NO.
INTRODUCTION ABOUT THE MECHANISM
2
1.1
APPLICATION
2
1.2
PARTS
2
1.3
HYDRAULIC ACTUA AC TUATION TION
3
CONCEPTUAL DESIGN AND METHODOLGY
4
2.1
CONCEPT
4
2.2
CONCEPTUAL DESIGN
4
2.3
METHODOLGY
4
3
DEVELOPMENT OF MODEL
5
4
CONCLUSION AND FUTURE SCOPE
13
4.1
CONCLUSION
13
4.2
FUTURE SCOPE
13
REFERENCES
14
2
1 | P a g e
Syringe Actuated Mechanical Arm
CHAPTER 1
INTRODUCTION ABOUT THE MECHANISM
A robotic r! "#ic# i$ #%&r'(ic((% o)*rt*& +& co+tro((*& b% $%ri+,*$ -i((*& "it# $o!* -('i&. It co+$i$t$ o- rio'$ )rt$ co++*ct*& to *c# ot#*r i+ )r*/&*$i,+*& !++*r "#ic# r* ,'i&*& i+ co+$tri+*& "% to obti+ r*0'ir*& o't)'t.
1.1 APPLICATION T#*$* r!$ r* '$*& i+ $$*!b(% (i+*$ o- !*, -ctori*$ to $$*!b(* rio'$ )rt$ o- )ro&'ct +& ($o to )i+t *#ic(*$. T#*% r* ($o '$*& i+ *rt# !o*r$ to )ic ') #*% "*i,#t +& **) t#*! "#*r* r*0'ir*&. S!* )ri+ci)(* i$ b*i+, '$*& i+ C$ 'to!obi(* (i-t*r$ *tc.
1.2 PARTS I+ t#* !*c#+i$! *c# )rt #$ b**+ )roi&*& "it# c*rti+ &*,r** o- -r**&o! to !o* i+ co+$tri+*& "% to ,'i&* ot#*r )rt$ +& ($o to )ic ') $!(( "*i,#t it*!$ +& to )(c* t#*! "#*r**r r*0'ir*&. T#* co!)(*t* !*c#+i$! co+$i$t$ o- -i6*& *rtic( (i+. To it$ -r** *+& i$ co++*ct*& or b*tt*r to $% #i+,*& +ot#*r #ori7o+t( (i+ "#ic# i$ -r** to o$ci((t* bo't t#t #i+,* i+ + ')/&o"+ "% o- !otio+. To t#i$ (i+ i$ co++*ct*& $(ott*& t%)* !*c#+i$! "#ic# co+$i$t$ o- $(ott*& bo6 "#ic# it$*(- c+ o$ci((t* bo't it$ #i+,* +& i+ it i$ $(i&i+, (i+ "#ic# c+ co!* o't o- t#* $(ot to #* t#* $(i&*r (i* !otio+. To t#i$ $(i&*r i$ co++*ct*& $'r-c* '+&*r+*t# "#ic# r* ttc#*& 4 $)oo+$ cti+, $ r! to )ic ') t#* it*!$. T#* *+tir* !*c#+i$! i$ -i6*& o+ rc +& )i+io+ t%)* !*c#+i$! to ((o" &*,r** o- -r**&o! o- t#* !*c#+i$! $ "#o(* to rott* b% 138&*,r**$.
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Syringe Actuated Mechanical Arm
1.3 H%&r'(ic ct'tio+ A(( t#* !o*!*+t$ bo* r* co+tro((*& #%&r'(ic((% b% $%ri+,*$ ttc#*& to *c# o+*.
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Syringe Actuated Mechanical Arm
CHAPTER-2 CONCEPTUAL DESIGN AND METHODOLOGY
2.1 CONCEPT T#* b$ic co+c*)t '$*& b*#i+& t#* o)*rtio+ i$ PASCAL$ LA9. T#i$ (" $tt*$ t#t "#*+ )r*$$'r* i$ ))(i*& t o+* )oi+t o- -('i& co+ti+*& i+ co+$tri+*& o('!* t#*+ t#* )r*$$'r* &'* to t#t -orc* i$ *0'((% tr+$!itt*& to (( t#* )oi+t$ o- t#* -('i& "#ic# r* ct*& ')o+ b% t#* $!* )r*$$'r*. U$i+, t#* $!* )ri+ci)(* "* ))(i*& )r*$$'r* to -('i& i+ $%ri+,* "#ic# i$ tr+$!itt*& to ot#*r *+& o- t'b* "#ic# i$ co++*ct*& to $%ri+,*. T#i$ !otio+ o- t#* $%ri+,* i$ '$*& to !o* t#* (i+$ or )rt$ o- t#* !*c#+i$! "#ic# r* ttc#*& to r*$)*cti* $%ri+,*$.
2.2 CONCEPTUAL DESIGN 1.: T#* $(ott*& !*c#+i$! '$*& i+ t#* &*$i,+ i+cr*$*$ it$ co!)(*6it% b't t t#* $!* ti!* i+cr*$*$ it$ *--ici*+c% bi(it% r* o- co*r,*. 2.: Rc +& )i+io+ !*c#+i$! '$*& to )roi&* rottor% !otio+ &o*$ it$ "or $!oot#(% "it#o't +% ;*r$ or $#oc$ +& ,ii+, !or* &*,r** o- rottio+ +& t#*r*b% i+cr*$i+, t#* r* o- *--*ct. 3.: To i+cr*$* o*r(( $tbi(it% +& to oi& ro(( o*r or '+b(+ci+, &'* to tor0'* or *6tr "*i,#t i+ t#* -ro+t )rt $'itb(* co'+t*r "*i,#t i$ '$*& i+ t#* r*r )ortio+ o- t#* !*c#+i$!. 4.: So) "t*r #i+, (*$t co!)r*$$ibi(it% +& #i,# *--ici*+c% i$ '$*& $ -('i& i+ $%ri+,*$.
2.3 METHODOLOGY A(( t#* &i!*+$io+$ o- t#* )rt$ i+c('&i+, t#*ir "*i,#t$ t#*ir r*0'ir*& ;ob r* &*ci&*& *--*cti*(% to obti+ o*r(( &i!*+$io+$ o- t#* !*c#+i$! +& ((o" r*0'ir*& &*,r** o- -r**&o! +& to obti+ r*0'ir*& !otio+ +& &o t#* r*0'ir*& t$.
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Syringe Actuated Mechanical Arm
CHAPTER-3 DEVELOPMENT OF MODEL
Fir$t t#i+, to &o i$< Gt#*r t#* )rt$= Yo' "i(( +**&
> ? 5 !( $%ri+,*$ 4 $cr*" *%*$ bi, *+o',# -or 3@1> &o"*( 3 c! o- t'bi+, to -it t#* $%ri+,*$ / > !! o't$i&* &i!*t*r 1>> c! o- 1 6 1 c! $tic$ b$* ?t#i$ c+ b* +% $i7* #o"**r !i+* i$ 2 c! t#ic B.B c! "i&* 6 2> c! (o+, + 11
)i*c* o- 1 6 4 "oo&: $!(( &i$ bo't .5 c! &i!*t*r ? %o' c+ c't $o!* )(%"oo& -or t#i$ or '$* t#* )r*c't
"#**($ 38 c! o- 2 c! 6 2 c! "oo& ? -or t#* $t+& ? +% $i7* c(o$* to t#i$ i$ O t#o',# 58 c! o- &o"*( / 14 c! !or* i- %o' r* ,oi+, to )*, t#* $!(( cro$$br$ -or t#* r!
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Syringe Actuated Mechanical Arm
T'bi+, Yo' +**& t"o i+&$ o- t'bi+,<
t#* t'b*$ -or t#* $%ri+,*$ r* 1@B i+$i&* 3@1> o't$i&* &i!*+$io+ t#i$ i$ 4 !! i+$i&* +& > !! o't$i&* &i!*+$io+: +& t#* #o(&*r t'b*$ to ,o ro'+& t#*
&o"*( +& t#* t'bi+, +& #o(& t#*! i+ )(c* t#i$ t'bi+, i$ 3@1> i+$i&* +& 1@4 o't$i&* &i!*+$io+ t#i$ i$ > !! i+$i&* +& B !!
o't$i&* &i!*+$io+: C't t#* 1 61 c! "oo& +& &ri(( t#* #o(*$ T#* c*+t*r$ o- t#* #o(*$ +*r t#* *+&$ r* > !! "% -ro! t#* *+&. 9#*+ %o' &ri(( #o(*$ i+ )i*c*$ t#* $!* (*+,t# (% t#*! o+ to) o- *c# ot#*r +& &ri(( t#t "% t#* #o(*$ "i(( b* *6ct(% t#* $!* &i$t+c* )rt. I!)ort+t= ? (( 3@1> &o"*($ r* +ot t#* $!*= I -i+& t#t i- I '$* 3@1> &ri(( bit -or t#* #o(*$ t#* &o"*( i$ $o ti,#t i+ t#* #o(* it "i(( +ot !o*. So I '$* 13 @>4 &ri(( bit +& t#* &o"*( i$ $+', $o t#* )i*c* &o*$+t "obb(* b't i$ (oo$* *+o',# t#t it !o*$ i+ t#* #o(* "it# $o!* -rictio+. Yo' r*((% $#o'(& t*$t %o'r &o"*( i+ $cr) )i*c* to !* $'r* t#* -it i$ corr*ct $+', b't +ot too $+', $o it &o*$+t !o*:. 9it# t#* 161 c! "oo& c't t#* -o((o"i+, )i*c*$< 3 / 38 c! )i*c*$ ? ro'+&*& t o+* *+& 2 / 12.2 c! )i*c*$ ro'+& o-- t#* *+&$ 2 ? .5 c! )i*c*$ 4 ? > c! )i*c*$ c't o+ + +,(* +& $+&*& o+ t#* i+$i&* *&,* 4 / 3.2 c! )i*c*$ o+* #$ $!(( #o(* i+ t#* !i&&(* '$* t#* $!((*$t bit $i+c* it i$ ;'$t -or bit o- "ir*: 1 ? 2.5 c! )i*c* ? &ri(( 13@>4 #o(* i+ t#* !i&&(* 3 ? 1.1 c! )i*c*$ ? &ri(( 13@>4 #o(* i+ t#* !i&&(*
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Syringe Actuated Mechanical Arm
T#* )i*c*$ $#o'(& (oo (i* t#i$= C't 2 ? 15 c! Pi*c*$ "it# t#* 2 6 2 c! "oo& +& c't t#* b$*. C't 5 c! &i!*t*r circ(* &i$ o't o- )(%"oo&. Dri(( 13@>4 #o(* i+ t#* !i&&(* I- t#*r* i$ +o !*$'r*!*+t -or t#* #o(* t#* c*+t*r o- it $#o'(& b* .> c! -ro! t#* *+& o- t#* "oo& t#i$ i$ !o$t o- t#*!:.
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Syringe Actuated Mechanical Arm
M* t#* (o+, )rt o- t#* r! '$* t#* $!(( 3.2 c! )i*c*$ to ;oi+ t#*!. T#* !i&&(* botto! )i*c* $#o'(& #* $!(( #o(* i+ t#* !i&&(* -or )i*c* o- "ir* (t*r o+.
A$$*!b(* t#* )i*c*$ $ $#o"+ #*r*. Cr*-'((% ,('* t#* $!(( 3.2 c! )i*c*$ to t#* o't$i&* 38 c! )i*c*$ ? !* $'r* t#* #o(*$ r* )oi+ti+, o't.
L*t t#* ,('* #r&*+ &r%: +& $$*!b(* t#* b$*.
T#* $*= 8 | P a g e
Syringe Actuated Mechanical Arm
Dri(( #o(* i+ t#* b$* B c! -ro! t#* -ro+t +& to t#* $i&* $o t#* &i$ i$ c(o$* to o+* $i&*. T#i$ "i(( (** roo! -or t#* )i$to+ t#t !o*$ it o+ t#* ot#*r $i&*. C't 4 c! &o"*( +& ,('* it i+ t#* b$*. S(i&* t#* &i$ o*r t#* &o"*( +& ,('* &o"+ t#* 2.5 c! )i*c* o*r t#* &i$. T#i$ "% t#* &i$ "i(( rott* b't +ot co!* o--=
T#* ri,#t $i&* o- t#* $'))ort $tr'ct'r* * #$ t"o $cr*" *%*$ t#* o+* o+ t#* i+$i&* i$ bi, *+o',# -or t#* $%ri+,* t'b* +& i$ 2.5 c! ') -ro! t#* botto!. T#* o+* o+ t#* o't$i&* c+ b* $!((*r $i+c* it o+(% "i(( #* "ir* i+ it +& it i$ .5 o- c! -ro! t#* botto! +& .5 c! -ro! t#* bc t#* (o+, $i&* o- t#* b$* i$ t#* bc:. Yo' c+ '$* bi , o+* o+ t#* o't$i&* i- t#t i$ (( %o' #*. Scr*" t#*! i+ b*-or* %o' ,('* t#* )i*c*$ to t#* &i$ $i+c* it i$ *$i*r *$)*ci((% t#* i+$i&* o+*:. C't )i*c* o- &o"*( to -it i+ t#* #o(*$ > c! -ro! t#* botto!. It $#o'(& b* (o+, *+o',# to ,o to t#* o't$i&* *&,* o- t#* $'))ort $tr'ct'r* t#t$ "#t I c(( t#i$ )rt: $o t#* $tr'ct'r* i$ *6ct(% 3.2 c! cro$$. T#* (o+, r! $#o'(& b* 3.2 c! cro$$ !*$'r* %o'r &r%i+, (o+, r!: $o t#* $)c* #*r* #$ to b* t#t "i&*. T#* 15 c! )i*c*$ r* ,('*& to t#* &i$.
I+$*rt )*,$ i+ t#* to) #o(*$ $o t#*% $tic i+ 1 c! t#i$ "i(( #o(& t#* (o+, r!. T#*% &o+t +**& to b* ,('*& $i+c* t#*r* i$ +o !otio+ t#t "i(( "or t#*! (oo$* +& it$ +i c* to b* b(* to r*!o* t#*!. L*t t#i$ &r% +& ,o o+ to t#* ,rbb*r r!$.
T#* Grbb*r Ar!$ T#i$ i$ t#* )rt t#t $#o"$ i- %o' #* c't +& &ri((*& "it# Acc'rc%= Strt o-- b% (ooi+, t t#* &i,r! +& c#*ci+, o't "#*r* t#i+,$ "i(( ,o. For t#* Grbb*r r!$ %o' "i(( +**& )i*c*$ o- c't &o"*(.
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Syringe Actuated Mechanical Arm
3 t 3 c! (o+, 4 t 4 c! (o+,
T#* &o"*($ "i(( i+$*rt i+to t#* #o(*$ +& t'b* i$ )'$#*& o*r t#* *+& to #o(& t#*! i+ )(c*. So %o' +**& 18 t'b*$ c't .5 o- c!. T#i$ i$ t#* > !! t'bi+, t#t i$ bit bi,,*r t#+ t#* t'bi+, %o' '$* -or t#* $%ri+,*$.
To -i+i$# )(c* t#* 4 c! &o"*( t#ro',# t#* (o+, r! t#ro',# "oo&*+ $)c*r +& t#*+ t#ro',# t#* botto! r! $ $#o"+ #*r*. Do t#* $!* -or t#* ot#*r $i&* +& %o' r* r*&% -or t#* c("$= P(c* t'bi+, o*r t#* &o"*($ to #o(& t#*! i+ )(c*. T#*r* $#o'(& b* .5 c! o+ *c# $i&* o- t#* r! -or t#* t'bi+,.
T#* c("$= T#*r* r* t"o "%$ %o' c+ ttc# t#*!. I- %o' (oo bo* t#*% bot# #* $)c* b*t"**+ t#*! +& #*r* t#*r* i$ +o $)c* b*t"**+ o+* o- t#*!. O'r r*$*rc#*r$ #* &*ci&*& t#t t#*% r* bot# -i+* +& %o' c+ '$* "#ic#**r t*c#+i0'* %o' "+t i+ ot*42 to 5:. Eit#*r "% %o' +**& "oo&*+ $)c*r o+ t#* r! o+ t#* ri,#t. O+ t#*$* )i*c*$ t#* &o"*( &o*$+t +**& r'bb*r #o(&*r $i+c* t#*% r* ,oi+, to b* ,('* +& t#* &o"*( $#o'(& b* -(t o+ t#* c(". Tri! t#* &o"*( "it# )ir o- $!(( "ir* $+))*r$ i- t#*% r* too (o+,. Mo* t#* (i+,* i+ +& o't "it# %o'r #+& +& &;'$t t#* c("$ $o t#*% r* t t#* corr*ct+,(* +& t#*% &o+t bi+& "it# *c# ot#*r. It#*% #it *c# ot#*r +& &o+t +ic*(% !*$# t#*+ t* t#*! o-- +& $+& t#*! $o t#*% $(i&* to,*t#*r. O+c* t#*% r* $!oot#(% !*$#i+, +& t + +,(* t#t %o' (i* )'t ,('* o+ t#* &o"*($ +& )'$# t#*! i+.
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No" -or t#* #%&r'(ic$= A$ %o' #* $**+ t#*r* r* t#r** $%ri+,*$ to !o* t#* )rt$ +& t#r** to )'$# t#*!. Yo' "i(( +**& to &ri(( $!(( #o(* i+ t#* to) or $i&* o- t#* $%ri+,* $o %o' c+ ttc# it to t#* r!$ "it# $!(( )i*c* o- "ir*. Ec# $%ri+,* i$ #*(& i+ )(c* b% $cr*" *%* +& )($tic t'b* (i* t#* "oo&*+ &o"*($:.
Attc# t#* b$*/t'r+i+, )i$to+
T* o+* o- t#* $%ri+,*$ t#*% c+ ($o b* c((*& )i$to+$ $i+c* t#t$ "#t t#*% r* c((*& "#*+ t#*% r* '$*& i+ #%&r'(ic$: +& -i(( it "it# "t*r. Co('r*& "t*r '$* -oo& co(ori+,: i$ b*$t $i+c* %o' c+ *$i(% $** "#ic# )i$to+ )'$#*$ "#ic# %o' "i(( #* t#r**. P(c* t#* .5 c! o't*r t'b* o*r t#* 28 c! t'b* +& (** it c(o$* to t#* *+&. Fi(( t#* )i$to+ "it# "t*r ttc# t#* t'b* t#* $!(( o't*r t'b* $#o'(& b* o+ t#* o))o$it* *+&:. 9#*+ t#* )i$to+ +& t#* t'b* r* -'(( ,*t $ !+% b'bb(*$ o't $ %o' c+: )(c* it t#ro',# t#* $cr*" *%* +& o+to t#* ot#*r $%ri+,* "#ic# $#o'(& b* *!)t% +& )'$#*& ( ( t#* "% i+. T#*+ )'$# $o!* "t*r i+ +& ttc# t#* -(t to) to t#* $cr*" *%* o+ t#* b$* "it# $!(( )i*c* o- "ir*. T#*r* %o' #* it. P'$# +& )'(( it $#o'(& !o* ro'+&= I- t#* #o(&*r t'b* $(i&*$ (o+, t#* t'bi+, %o' !% +**& to ,*t o't t#* ,('* ,'+ +& ,('* it $o it $t%$ )'t.
No" -or t#* (o+, r! C't bo't 25 c! o- t'bi+, )(c* .5 c! t'b* o*r o+* *+& +& -i(( t#* $%ri+,* +& t'b* $o it i$ -'((. P(c* t#* t'bi+, t#ro',# t#* $cr*" *%* i+ t#* !i&&(* o- t#* $'))ort r!$ +& o*r t#* ot#*r $%ri+,* +& %o'
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Syringe Actuated Mechanical Arm
#* +'!b*r t"o (!o$t &o+*. Attc# "ir* t#ro',# t#* to) o- t#* $%ri+,* +& t#ro',# t#* "oo&*+ )i*c* %o' &i& )'t i+ #o(* &i&+t %o':. T"i$t it $o t#* ttc#!*+t i$ $+', +& c#*c %o'r "or. T#* r! $#o'(& ,o ') +& &o"+= A&;'$t t#* $!(( #o(&*r t'b* t t#* botto! $o it i$ $+',.
T#* C(" !*c#+i$!
P(c* $cr*" *%* i+to t#* cro$$br +& )i*c* o- &o"*( "it# $!(( #o(* i+ it i+ t#* c*+t*r (o+, r!. Fi(( t#* $%ri+,* $ '$'( S(i&* ') t#* .5 c! #o(&*r t'b* +& t#*+ ttc# t#* $%ri+,* to t#* &o"*( "it# $o!* "ir* t t#* ot#*r *+&.
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CHAPTER 4 CONCLUSION AND FUTURE SCOPE
4.1 CONCLUSION T#* )r*)r*& !*c#+i$! #$ b**+ $'cc*$$-'((% co+$tri+*& +& *6*c't*& to crr% o't t#* r*0'ir*& "or o- )ici+, ') t#* "*i,#t o- ob;*ct$ (i* tb(* t*++i$ b(($ +& to )'t t#*! i+to ,($$*$ )(c*& t &i--*r*+t (octio+.
4.2 FUTURE SCOPE I- !or* ti!* +& !or* *--ort$ "o'(& #* b**+ )'t i+to t#* !o&*( !or* co!)(*6iti*$ co'(& #* b**+ bro',#t o't. Mor*o*r i+$t*& o- !+'( o)*rtio+ o- $%ri+,*$ co'(& #* b**+ r*)(c*& b% )r*/&*-i+*& co!)'t*r )ro,r!$ or !*r*(% b% )r*$$i+, t#* $"itc# o)*rt*&. F'rt#*r !or* ri*ti*$ +& !or* -(*6ibi(it% to && or r*)(c* +% )rt ccor&i+, to r*0'ir*!*+t$ c+ b* &o+* to i!)ro* it$ '$* +& i+cr*$* -i*(& o- '$,* +& to !* it !or* '+i*r$( or -(*6ib(*.
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REFERENCES
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