https://wiki.opensourceecology.org/api.php?action=feedcontributions&feedformat=atom&user=Paul+Azevedo 2026-04-06T11:24:28Z User contributions MediaWiki 1.39.13 https://wiki.opensourceecology.org/index.php?title=Industrial_Robot_Development&diff=30424 2011-06-05T21:38:44Z

<p>Paul Azevedo: Adding some of the team</p> <hr /> <div>{{ToolTemplate|ToolName=Industrial Robot}}<br /> ----<br /> <br /> =Developers=<br /> <br /> Paul Azevedo<br /> <br /> Yoonseo Kang<br /> <br /> Wonjohn Choi<br /> <br /> Joshua Lee<br /> <br /> Roberto Bortolussi<br /> <br /> =Progress Report=<br /> <br /> General Developmental Bill of Materials Completed<br /> <br /> Mechanical Design Illustrated<br /> <br /> Denavit-Hartenberg Kinematic Parameters Completed for Sample Design<br /> <br /> Electrical Design Illustrated<br /> <br /> Hydraulic Design Illustrated<br /> <br /> Stepper Motor - Needle Valve Bracket Design Illustrated<br /> <br /> Systems Engineering Diagrams Added<br /> <br /> =Task List=<br /> <br /> Continue design optimization and understanding through research and collaboration<br /> <br /> Research into design, construction, and mounting of shaft encoder<br /> <br /> Research into design, construction, and mounting of gearbox<br /> <br /> Research into microcontroller programming<br /> <br /> Complete force analysis on different mechanical designs <br /> <br /> Complete calculations for required specifications of various industrial robot components (eg. required pressure and flow from pump, required torque from motors)<br /> <br /> Complete all CAD files of the industrial robot<br /> <br /> Complete fully detailed bill of materials<br /> <br /> Complete build instructions<br /> <br /> Complete user's manual<br /> <br /> =Design Rationale=<br /> <br /> *Using hydraulic drive over electric drive: electric drive requires complicated electronic circuits, requires a high reduction gearbox (such as harmonic drive, which is complicated to design and fabricate), and is not as scalable as hydraulic drive (for very high loads).<br /> <br /> *Needle valves and solenoid valves over proportional servovalves: proportional servovalves experience coil heat buildup that changes the resistance of the solenoid hence diminishes its accuracy of control; proportional servovalves also are more complicated to design and fabricate.<br /> <br /> *Stepper motors to allow the electronic control of needle valves: eliminates need to have closed-loop system for needle valve control while maintaining high accuracy through stepping.<br /> <br /> *Two plate, four pillar design for foundation: simple to design, fabricate, and assemble, does not require casting with molds while maintaining high degree of stability.<br /> <br /> *Angles and bars frame design: simple to design, fabricate, and assemble, does not require casting with molds while maintaining high degree of stability akin to the designs of existing commercial industrial robots.<br /> <br /> *Spur gearbox: High efficiency, minimal axial force transmitted onto shaft; simple to design, fabricate, and assemble relative to other gearbox types (such as planetary or harmonic).<br /> <br /> *[Type of Encoder]<br /> <br /> [[Category: Industrial Robot]]</div>

Paul Azevedo