Pneumatic Assempling Robotic Arm

Introduction

Chapter one

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Introduction

1 Robot

1.1 Definition

Robot is a machine or device that operates automatically or by remote

control that sometimes resembles a human and is capable of performing
a variety of often complex human tasks on command or by being
programmed in advance.

Robot is mechanical device with links and joints, guarded by sensors,

driven by actuators and controlled through programmed soft ware, to
handle and manipulate parts, materials, tools and devices for performing
various tasks in variety of work environments.

Robot is simply a computer with some sort of mechanical body designed

to do a particular job. Usually, it is able to move and has one or more
electronic senses. These senses are not nearly as powerful as our own
senses of sight and hear.
"A robot is a reprogrammable, multifunctional manipulator designed to
move material, parts, tools or specialized devices through variable
programmed motions for the performance of a variety of tasks." Recently,
however, the industry's current working definition of a robot has come to
be understood as any piece of equipment that has three or more degrees
of movement or freedom.

1.2 Usage

Why do we need robots? First, they are (as shown in

fig.1) hardworking and reliable. They can do
dangerous work or work that is very boring or tiring
for humans. They can work around the clock without
complaining and without needing rest, food or
vacations. And robots can go places that humans
cannot, such as the surface of Mars, deep under the
ocean.
The evolution of robots hasn't been driven by their
ability to emulate human behavior but by their
capacity to do useful work. Fig(1)

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1.3 Different types of robots and their applications:

There are a number of factors that will determine which type of robot is
best suited to your needs. These factors are determined by a number of
things including the axes of movement, the type of drive that is included
in the robot, the end effectors of the robot, the type and shape of the
work envelope, the speed of the axis, as well as the payload which is
called the load capability, the sensitivity of the work environment where
the robot will be used, and the structural rigidity of the robot.

Each type of application will require a performance capability from the

robot that will match up to the task. There are some typical applications
that different types of robots are used for, and the four main applications
are spot and arc welding, pick and place activities, clamping for
machining, and the transfer and manipulation of parts.

Mobile Robots 1.3.1

Mobile robots are (As the shown fig.1) able to

move, usually they perform task such as search
areas. A prime example is the Mars Explorer,
specifically designed to roam the mars surface.
Mobile robots are a great help to such collapsed
building for survivors Mobile robots are used for
task where people cannot go. Either because it
is too dangerous of because people cannot
Fig(2) reach the area that needs to be searched.

Mobile robots can be divided in two categories:

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a- Rolling Robots: have wheels to move

around. These are the type of robots that
can quickly and easily search move
around. However they are only useful in
flat areas, rocky terrains give them a hard
time. Flat terrains are their territory. (As
shown fig.3) Fig(3)

b- Walking Robots: Robots on legs are (as

shown fig.4) usually brought in when the
terrain is rocky and difficult to enter with
wheels. Robots have a hard time shifting
balance and keep them from tumbling.
Thats why most robots with have at least 4
of them, usually they have 6 legs or more.
Even when they lift one or more legs they
still keep their balance. Development of Fig (4)
legged robots is often modeled after insects or crawfish.

1.3.2 Stationary Robots

Robots are (as shown fig.5) not only used to explore

areas or imitate a human being. Most robots perform
repeating tasks without ever moving an inch. Most
robots are working in industry settings. Especially
dull and repeating tasks are suitable for robots. A
robot never grows tired; it will perform its duty day
and night without ever complaining. In case the tasks
at hand are done, the robots will be reprogrammed Fig(5)
.to perform other tasks

1.4 Advantages of using robot in industry :

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Usage of robots in industry is beneficial as robots provide economical

advantages, produce high quality goods, and perform some duties that
are not preferred by humans as well as some impossible tasks.

1- Economical advantages:
A. Longer working time (No loss of time for breaks or for rest).
B. Lower costs. (No extra payment for protective clothes or for lunch
room supplies.
C. No fatigue.
2- Better productivity/efficiency of robots due to no fatigue:
.A. Producing higher quality good
B. Producing defect less good.

3 Tasks not preferred by humans as well as some impossible tasks:

A. Lifting heavy things.
B. Producing extreme pressure.

1.5 The Disadvantages of Industrial Robots:

1- Expense:
The initial investment to integrated automated robotics into your
business is significant, especially when business owners are limiting
their purchases to new robotic equipment. The cost of robotic
automation should be calculated in light of a business' greater
financial budget. Regular maintenance needs can have a financial
toll as well.
a) Return on Investment (ROI):
Incorporating industrial robots does not guarantee results. Without
planning, companies can have difficulty achieving their goals.
b) Expertise:
Employees will require training program and interact with the new
robotic equipment. This normally takes time and financial output.
c) Safety:
Robots may protect workers from some hazards, but in the
meantime, their very presence can create other safety problems.
These new dangers must be taken into consideration.

1.6 End effectors

Fig(6)
 Pneumatic Assempling Robotic Arm
Introduction

1.6.1 Definition
Robot end effectors are vital part of any industrial robot application, since
the end effectors represents the final link between the robot arm and
manufacturing task. End effectors are classified as grippers or tools, the
term' end effectors ' is used loosely to describe this interface. Grippers
are the devices which can be used for hold in or gripping an object.
Examples of grippers are MultiFinder grippers, clamps, hooks, forks,
magnets and suction devices. (As shown fig.7)

Fig (7)
The human hand is the most effective and versatile general purpose
gripper, but it is extremely complicated. So we simulate the human hand
to certain limit to a chive their goal. The end effectors design sometimes
provides the cost effectiveness, since gripper prices are generally 3 to 10
percent of robot price, but are sometimes as low as 0.1 percent or as high
.as 20 percent for smarter or specialized grippers

1.7 Operation

The most widely used gripper is the pneumatically powered gripper; it is

basically a cylinder that operates on compressed air. When the air is
supplied, the gripper jaws will close on an object and firmly hold the

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object while some operation is performed, and when the air direction is
changed, the gripper will release the object. Typical uses are to change
orientation or to move an object as in a pick-n-place operation.

1.7.1 Gripping action

a- External:
This is the most popular method of holding objects, it is the most
simplistic and it requires the shortest stroke length. When the
gripper jaws close, the closing force of the gripper holds that object.

b- Internal:
In some applications, the object geometry or the need to access the
exterior of the object will require that the object is held from the
center. In this case the opening force of the gripper will be holding
the object.

1.8 Type of pneumatic gripper

The most popular types of pneumatic grippers are the 2 jaw parallel and 2
jaw angular gripper styles. Parallel grippers open and close parallel to the
object that it will be holding, these are the most widely used grippers.
They are the simplest to tool and can compensate for some dimensional
variation. Angular grippers move the jaws in a radial manner to rotate the
jaws away from the object and therefore require more space.

Fig (8)
There are also 3 jaw and toggle style grippers that are designs for more
.specific handling requirements

Gripper force 2.8.1

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Grippers have a force rating that is referenced with an air pressure. The
force of a gripper is influenced by the air pressure; if you increase the air
pressure by 20% then you have increased the force on the griper by 20%
(up to the gripper maximum air pressure rating). This also gives you the
ability to reduce the gripper force by using an air regulator.

2.8.2 Jaw configuration

The jaws are custom tooling designed to securely hold the object at task.
They will make contact with the object and much thought needs to go
into the correct jaw design because it will have a major factor in the force
requirement of the gripper. There are two types of gripping actions:
Friction: Friction gripping jaws relay completely on the force of the
gripper to hold the object, they are the easiest to fabricate and may
require more force to hold the object. This is especially true for objects
that do not have flat surfaces. Parts can be dislodged by forces applied
.from any direction
2.8.3 Retention or Encompassing:
Retention or encompassing gripping jaws will hold the object and cradle it
in the jaws. It is the preferred method since it adds stability to holding the
object and requires less force to hold the object, to drop the object you
must overcome the force to open the jaws. Keep in mind that the travel
stroke of the gripper may have to be increased to encompass the object.
If the jaw encompasses the object 1/16" on both sides, then the stroke
length requirement will need to be increased by 1/8".

Fig (9)

2.8.4 Major Factors in Choosing a Pneumatic Gripper and Jaw Design:

a- Part shape, orientation and dimensional variation:

If the object has two opposing flat surfaces, then two jaw parallel

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gripper is desired since it can handle some dimensional variation.

Jaws can also be designed to handle cylindrical objects with the
two jaw concept. Keep in mind that retention or encompassing grip
requires much less force.

b- Gripperweight:
Grip force must be adequate to secure the object while a desired
operation is performed on the object. The type of jaw design must
be part of the force requirement. Keep in mind that you should add
a safety factor to the amount of force that you select and air
pressure is a factor to keep in mind.

c- Accessibility:
This applies both to the work being performed on the object and
the amount of room for the gripper jaws. If the work is to the
exterior of the object then it may require an internal grip. Angular
grippers are usually less expensive but require additional space for
jaw movement.
d- Environmental:
Harsh environment or clean room applications require grippers
designed for those purposes.
e- Retention of the Object:
When air pressure is lost, the gripper will relax its grip on the object
and the object may be dropped. There are spring assist grippers
designed for this type application.

:Gripper types 1.9

Pneumatic Parallel Grippers Parallel 2.9.1
grippers open and close parallel to the object that
it will be holding; these are the most widely used

Fig (10)
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grippers. They are the simplest to tool and can compensate for some
.dimensional variation

Pneumatic Angular Grippers Angular gripper's 2.9.2

move the jaws in a radial manner to rotate the jaws
away from the object, this allows for the jaws to move
completely away from the object. The object may also
be fed directly into the jaws and possibly eliminate one
Fig (11) .additional motion

1.10 Power source

Pneumatic systems are power systems using compressed air as a working

medium for the power transmission. Their principal operation is similar to
that of hydraulic power systems. The air compressor converts the
mechanical energy of the prime mover into mainly pressure energy of
compressed air.
This transformation facilities transmission Storage and control energy.
After compression, the compressed air should be prepared for use. The
air preparation includes filtration, cooling, water separation, drying and
.adding lubrication oil mist

The compressed air is stored in compressed air reservoirs and transmitted

through transmission lines, pipes and hoses. Pneumatic systems use air
rather than some other gases as the fluid medium, because air is safe, low
cost and available. There are many reasons for using pneumatic systems
instead of hydraulic systems. Liquids exhibit greater inertia than do gases.

1.11 Control method

1.11.1 PLC

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Fig (12)
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(AS shown fig.12) PLC

are industrial
microcontroller
systems (in more
recent times we meet
processors instead of
micro controllers)
where hardware and
software are
specifically adapted to
industrial environment.
The key to their success
is the fact that you don't have to learn a new programming language to
program them.
The automation of many different processes, such as controlling machines
or factory assembly lines, is done through the use of small computers
called a programmable logic controller (PLC). This is actually a control
device that consists of a programmable microprocessor, and is
programmed using a specialized computer language. A modern
programmable logic controller is usually programmed in any one of
several languages, ranging from ladder logic to Basic or C. Typically, the
program is written in a development environment on a computer, and
then is downloaded into the programmable logic controller directly.

1.11.2 Micro
controller

(As shown fig. 13)

A microcontroller is a
small computer on a
single integrated circuit Input and output of LS - PLC
containing a processor
core, memory, and
programmable
input/output peripherals.
Program memory in the
form of (NOR) flash or
Fig (13)
OTP (ROM) is also often
included on chip, as well as a typically small amount of RAM.

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Microcontrollers are designed for embedded applications, in contrast to

the microprocessors used in personal computers or other general
purpose applications.

Microcontrollers are used in automatically controlled products and

devices, such as automobile engine control systems, implantable medical
devices, remote controls, office machines, appliances, power tools, and
toys. By reducing the size and cost compared to a design that uses a
separate microprocessor, memory, and input/output devices,
microcontrollers make it economical to digitally control even more
devices and processes. Mixed signal microcontrollers are common,
integrating analog components needed to control non-digital electronic
systems.

The different between PLC and micro controller 1.11.3

The PLC has the ability to control any system in spite of its inputs and
outputs, also the PLC is the easiest in wiring and maintenance, but it is
not as cheap as the other controllers. The microcontroller can't be used
with many inputs and outputs, has more difficulty and complexity in
wiring, maintenance and modification with the inputs and outputs. The
micron, microprocessor is the main part in the PLC so it cannot control
.but compute, arrange, send, and receive data

1.12 Robotic Parts Explained

1. Sensor: Sensors measure attributes and interact with
external events. Using a transducer, the sensor
transforms the energy associated with what is being
measured into another form of energy. In robotics,
some of the items sensors measure include speed,
Fig (14) orientation, and proximity of other objects. (As shown
fig.14).

2. Controller: This regulating device initiates one or more

functions of operation in the robot arm, such as
starting, stopping, reversing, and changing speeds by
issuing a preset list of commands. (As shown fig.15).

Fig (15)
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3. Actuator: The actuators are the motors and drives

inside the robot body that are used to create and
control motion. There are many types of actuators. (As
shown fig.16).

Fig (16)
4. Mechanisms and Kinematics: The mechanism is
the arrangement of the connected parts. The kinematic
structure of a robot refers to the identification of the
joint connection between its links. It can be usefully
represented by abstract diagrams. (As shown fig.17).

Fig (17)
1.13 The project
Pneumatic assempling robot is the name of our project. It is a robot using
for handling and assempling objects by pneumatic system and using PLC
.for controlling

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