Design and Fabrication of a Robot for Training Essays

Structure and Fabrication of a Robot for Training Essays Structure and Fabrication of a Robot for Training Essay Structure and Fabrication of a Robot for Training Essay MOI UNIVERSITY SCHOOL OF ENGINEERING DEPARTMENT OF MECHANICAL AND PRODUCTION ENGINEERING COURSE CODE: PRD5 80 COURSE TITLE: FINAL YEAR PROJECT TITLE: 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 DECLARATION I thusly announce this is my unique work and has not been submitted for any honor in any foundation or college. SIGN †¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦ DATE †¦ Dennis Chesire CERTIFICATION I have perused this undertaking report and affirmed its introduction for assessment. SIGN †¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦ DATE †¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦ Supervisor DEDICATIONS I commit this structure work to my family and every one of my companions for their motivation and help even in the midst of trouble. Affirmation The fulfillment of this task would have been unthinkable without the assistance got from numerous individuals. First I might want to thank the Almighty Father in paradise for having presented to me this far. To God be brilliance always. I might likewise want to express gratitude toward Dr. A. N. Mayaka for the inestimable good and specialized guidance he gave all through the structure procedure of this undertaking. Much obliged to you for the common reports and materials and the valuable time you gave, out of your ever bustling calendar. I recognize the help of the Head of Department, Dr. Boaz Korir for going to my guide when Dr. A. N. Mayaka was away. I might want to recognize every one of my speakers for the energetic exertion they have placed in my preparation. Mr. Kimutai the exertion you put towards this venture can't go unmentioned. I need to likewise stretch out my earnest thankfulness to all the Mechanical Engineering Department professionals, uncommonly referencing Mr. Akwiri and Mr. Oduor My folks, I won't overlook your selflessness with an end goal to help me all through my school life. To wrap things up, every one of my colleagues, I am thankful. May God favor all of you. Unique In this undertaking a presentation on the need of sufficient preparing on robotization in higher learning organizations is investigated in an orderly manner. First there is a general presentation of apply autonomy in part one, robot characterizations and robot applications is in sections three and four. Section five comprises of the structure choices and their examination. General presentation on part produce is given in section six. Cost investigation and the end and proposals are done in parts seven and eight. Chapter by chapter guide DECLARATIONi Supervisor DEDICATIONSi DEDICATIONSii ACKNOWLEDGEMENTiii ABSTRACTiv TABLE OF FIGURESviii LIST OF TABLESix LIST OF APPENDICESx 1. 0 CHAPTER ONE1 1. 1 GENERAL INTRODUCTION1 1. 2 PROBLEM STATEMENT2 1. 3 JUSTIFICATION3 1. 4 SCOPE5 1. 5 OBJECTIVES6 1. 5. 1 General objective6 1. 5. 2 Specific objectives6 1. 6 METHODOLOGY7 1. 6. 1 Source of data7 1. 6. 2 Target advertise for design7 1. . 3 Viability7 CHAPTER TWO8 2. 0 LITERATURE REVIEW8 2. 1 Background8 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 dependent on basic setup and robot movement. 11 2. 4. 1. 1 Revolute (jointed arm) robot12 2. 4. 1. 2. Polar (circular) robot13 2. 4. 1. 3 Cylindrical robot14 2. 4. 1. 4 Cartesian (rectangular) robot, sliding type14 2. 4. 1. 5 Cartesian (rectangular) robot, gantry-type14 2. 4. 1. 6. SCARA-type robot15 2. 4. 2 Basic robot motions16 2. 4. 2. 1 Six degrees of freedom16 2. 4. 3 Classification dependent on way control17 2. 4. 3. Point-to-point (PTP) control17 2. 4. 3. 2Continuous way (CP) control18 CHAPTER THREE19 3. 0 ROBOT APPLICATIONS19 3. 1 General application characteristics19 3. 2 APPLICATION AREAS OF INDUSTRIAL ROBOTS20 3. 2. 1 Material Transfer21 3. 2. 2 Machine Loading21 3. 2. 3 Welding23 3. 2. 3. 1Spot welding23 3. 2. 3. 2 Arc welding24 3. 2. 4 Spray Coating25 3. 2. 5 Processing Operations27 3. 2. 6 Assembly28 3. 2. 7 Inspection29 CHAPTER FOUR31 4. 0TRAINING31 4. 1 INTRODUCTION31 4. 2 APPLICATION OF ACQUIRED SKILLS31 4. 2. 1 Middle managers31 4. 3 TREND IN KENYA31 4. 4 REASONS WHY KENYAN FIRMS NEED WELL TRAINED GRADUATES FROM LEARNING INSTITUTIONS33 4. Kinds OF TRAINING34 5. 0 DESIGN ANALYSIS36 5. 1 DESIGN ALTERNATIVES36 5. 1. 1 Comparison of alternatives38 5. 2 SPECIFICATIONS39 5. 2. 1 Task Specifications39 5. 2. 1. 1 Performance Specifications39 5. 2. 1. 2 Design Specifications39 5. 2. 1. 3 Dimensional Specifications40 5. 3 EXTENT OF THE ANALYSIS42 5. 4 GRIPPER MECHANISM ANALYSIS43 5. 4. 1 Gripping Force44 5. 4. 2 Torque required to deliver wanted cinching Power screws46 5. 4. 3 Power Required49 5. 4. 4 Pins50 5. 5 HOLLOW SECTIONS51 5. 6 BELT51 5. 6. 1 Dimensions of belt cross sections52 5. 7 FASTENERS53 5. 8 WASHERS54 5. 9 COUPLINGS54 5. 9. 1 Flange coupling54 5. . 2 Derivation of spine coupling formula55 5. 10 SAFETY FACTORS57 5. 11 KEYS AND KEY-WAYS58 5. 11. 1Wood ruff key58 CHAPTER SIX59 6. 0COMPONENT PRODUCTION59 6. 1 PARAMETERS FOR OPTIMUM PRODUCTION59 6. 1. 1 Product Analysis59 6. 1. 2 Operation Analysis59 6. 1. 3 Machine Analysis59 6. 1. 4 Operator Analysis59 6. 2 RESOURCE REQUIREMENT59 6. 2. 1 Capital Resources60 6. 2. 2 Tooling Resources60 6. 2. 3 Material Resources60 6. 2. 4 Human Resources60 6. 2. 5 Service Resources60 CHAPTER SEVEN61 7. 0 COST ANALYSIS61 CHAPTER EIGHT63 8. 0 CONCLUSION AND RECOMMENDATIONS63 8. 1 CONCLUSION63 8. 2. 1 Recommendations for the Government65 8. 2. Suggestions for the university66 REFERENCES67 TABLE OF FIGURES Figure 1. 0: CAD/CAM format 6 Figure 2. 1: Revolute Robot 14 Figure 2. 2: Cylindrical and Polar Robot 15 Figure 2. 3: Cartesian Robot17 Figure 2. 4: Basic Robot Motions18 Figure 2. 5: Typical Wrist Articulations19 Figure 5. : Alternative Design 138 Figure 5. 2: Alternative Design 239 Figure 5. 3: Shape of Object to be grasped40 Figure 5. 4: Determination of Principal Dimensions41 Figure 5. 5: Gripper mechanism44 Figure 5. 6: End segment of Gripper45 Figure 5. : Power Screw Motions48 Figure 5. 8: Woodruff Key59 LIST OF TABLES Table 7. 1 Cost examination 62 LIST OF APPENDICES APPENDIX I: Glossary Of Robotic Terms APPENDIX II: Nominal cross-sectional components of Standard V-belts APPENDIX III: Typical coefficients of static grating qualities (Dry condit ions) APPENDIX IV: Chain Dimensions and Breaking Loads of Base Chains APPENDIX V: Woodruff Keys APPENDIX VI: Straight Sided Splines for Machine Tools-4 splined APPENDIX VII: Single Thrust Ball Bearings 1. 0 CHAPTER ONE 1. 1 GENERAL INTRODUCTION Robotics is a term depicting another scholarly and modern control. Mechanical technology is presently an entrenched field of attempt both in industry and exploration research centers. There is a peril that the word might be utilized even in zones where it is unseemly, so knowing absolutely what a robot is, the manner by which it is controlled and how it might be utilized in explicit applications is of the most elevated significance. Because of the extraordinary advances of the most recent couple of years numerous mechanical procedures have gotten to a great extent robotized, with the human administrator assuming a regularly diminishing job. The completely computerized and unmanned manufacturing plant is likely now just a couple of decades away. 1. 2 PROBLEM STATEMENT Many establishments of higher learning in Kenya have consolidated examinations on mechanization in their showing curricular for instance CAD/CAM. Appropriate handle of the basic standards are best exhibited to the understudies inside a research center. It is in compatibility of this need an exertion is being made through this task to create a mechanized tube shaped design robot model. 1. 3 JUSTIFICATION In the ongoing past there has been expanding overall rivalries and numerous organizations see, the utilization of PC helped creation frameworks as giving them a possibility of settling the contention of destinations among profitability and adaptability by presenting robotization in an adaptable way. In any case, it isn't just the creation strategies that are experiencing a procedure of progress. PCs are likewise used to help the capacities that go before, go with or follow creation. The catchphrases of this pattern are: Computer Aided Design (CAD), Computer Aided Planning (CAP) and Computer Aided Manufacturing (CAM). CAM implies the mix of all arranging, controlling, executing and checking elements of the creation procedure based on a PC organize. Endeavors coordinated towards mechanization and mix change the work substance and working states of creation. In any case, the achievement of a company’s responsibility will be resolved not just by choosing and applying the best innovation yet in addition guaranteeing that individuals and machines cooperate in the most ideal way. It is in this setting preparing is of central significance. There is along these lines a need to acquaint mechanical technology with all rehearsing and preparing engineers so the innovation might be grasped in Kenya to help in the fulfillment of Vision 2030. To achieve this, a structure of a basic arrangement robot to help in the showing of the fundamental standards of apply autonomy to preparing engineers is of incredible import. It is with this aim this task is done as a follow up what exactly has been done already regarding the matter. [pic] Figure 1: CAD/CAM Layout (politeness of Robotics for Engineers Pg 308) 1. Extension The task will be constrained to the d