Design and Fabrication of a Robot for Training Essays

Structure and Fabrication of a Robot for Training Essays Plan 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 proclaim 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 venture 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 devote 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 fruition of this task would have been outlandish 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 everlastingly. I might likewise want to say thanks to Dr. A. N. Mayaka for the invaluable good and specialized counsel he gave all through the plan procedure of this venture. Much obliged to you for the common archives and materials and the valuable time you gave, out of your ever bustling timetable. 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 instructors for the vigorous exertion they have placed in my preparation. Mr. Kimutai the exertion you put towards this task can't go unmentioned. I need to likewise stretch out my genuine thankfulness to all the Mechanical Engineering Department professionals, uniquely referencing Mr. Akwiri and Mr. Oduor My folks, I won't overlook your altruism with an end goal to help me all through my school life. To wrap things up, every one of my cohorts, I am extremely thankful. May God favor all of you. Conceptual In this undertaking a presentation on the need of satisfactory preparing on computerization in higher learning organizations is investigated in a precise manner. First there is a general presentation of mechanical technology in section one, robot characterizations and robot applications is in parts three and four. Part five comprises of the structure choices and their examination. General presentation on segment fabricate is given in part six. Cost investigation and the end and suggestions are done in sections seven and eight. Chapter by chapter list 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 showcase 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 auxiliary 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. Sorts OF TRAINING34 5. 0 DESIGN ANALYSIS36 5. 1 DESIGN ALTERNATIVES36 5. 1. 1 Comparis on 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 S ervice 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. Proposals 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 investigation 62 LIST OF APPENDICES APPENDIX I: Glossary Of Robotic Terms APPENDIX II: Nominal cross-sectional elements of Standard V-belts APPENDIX III: Typical coefficients of static grating qualities (Dry co nditions) 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 scholastic and mechanical order. Apply autonomy is presently a settled field of try both in industry and exploration research facilities. There is a peril that the word might be utilized even in zones where it is improper, so knowing correctly what a robot is, the manner by which it is controlled and how it might be utilized in explicit applications is of the most noteworthy significance. Because of the extraordinary advances of the most recent couple of years numerous mechanical procedures have gotten to a great extent mechanized, with the human administrator assuming a regularly diminishing job. The completely mechanized and unmanned plant is likely now just a couple of decades away. 1. 2 PROBLEM STATEMENT Many organizations of higher learning in Kenya have joined investigations on robotization in their showing curricular for instance CAD/CAM. Legitimate handle of the hidden standards are best shown to the understudies inside a research facility. It is in compatibility of this need an exertion is being made through this venture to create a mechanized round and hollow arrangement 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 computerization in an adaptable way. However, it isn't just the creation procedures that are experiencing a procedure of progress. PCs are additionally 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 incorporation of all arranging, controlling, executing and observing elements of the creation procedure based on a PC organize. Endeavors coordinated towards computerization and reconciliation change the work substance and working states of creation. In any case, the achievement of a company’s duty will be resolved not just by choosing and applying the best innovation yet additionally guaranteeing that individuals and machines cooperate in the most ideal way. It is in this setting preparing is of fundamental significance. There is in this manner a need to acquaint mechanical autonomy with all rehearsing and preparing engineers so the innovation might be grasped in Kenya to help in the achievement of Vision 2030. To achieve this, a structure of a basic design robot to help in the showing of the fundamental standards of mechanical technology to preparing engineers is of incredible import. It is with this expectation that this undertaking is done as a follow up whatever has been done beforehand regarding the matter. [pic] Figure 1: CAD/CAM Layout (kindness of Robotics for Engineers Pg 308) 1. Extension The undertaking will be restricted to the d