Industrial Robot Mechanical Design - Revision history

Syk0saje: Redirected page to Industrial Robot/Research Development

2012-01-28T11:40:18Z

Redirected page to Industrial Robot/Research Development

← Older revision		Revision as of 11:40, 28 January 2012
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	#REDIRECT [[Industrial Robot Development]]		#REDIRECT [[Industrial Robot/Research Development]]

YK: organizing into main ind. robot pages, redirect added to main dev page

2011-07-20T06:59:07Z

organizing into main ind. robot pages, redirect added to main dev page

← Older revision		Revision as of 06:59, 20 July 2011
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	~~=Toolchain for Toolpaths=~~		#REDIRECT [[Industrial Robot Development]]

	~~CAD (FreeCAD) > export (stl, dxf, svg) > CAM (PyCAM) > export (gcode) > Machine Controller (EMC2) > export (logic signals) > Machine (CNC milling, various) > export (work)~~

	In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.

	~~=Force Analysis=~~

	*Format

	~~Force is expressed in newtons (N)~~

	~~Maximum absolute displacement is expressed in millimeters (mm)~~

	~~Dimensions are expressed in inches (“)~~


	*A36 Steel Specifications

	~~Poisson Ratio = 0.285~~

	~~Young's Modulus = 200GPa~~


	*Some results strange - retesting to be done, remainder of force analysis to be posted, new analysis for different robot components to be completed


	*36” length by 6” height by 1” width A36 steel bar

	**[~~Vertical Force + Vertical Gravity]~~ [~~Wall and force at opposite ends of length]~~

	~~500N > 39 mm~~

	~~1000N > 39 mm~~

	~~1500N > 39 mm~~

	~~2000N > 40 mm~~

	~~2500N > 40 mm~~

	**[Horizontal Force + Horizontal Gravity] [Wall and force at opposite ends of length]

	~~500N > 330 mm~~

	~~1000N > 330 mm~~

	~~1500N > 330 mm~~

	~~2000N > 330 mm~~

	~~2500N > 330 mm~~


	*18” length by 6” height by 1” width A36 steel bar

	**[Vertical Force + Gravity] [Wall and force at opposite ends of length]

	~~500N > 1.9 mm~~

	~~1000N > 1.9 mm~~

	~~1500N > 2 mm~~

	~~2000N > 2 mm~~

	~~2500N > 2 mm~~

	**[Horizontal Force + Horizontal Gravity] [Wall and force at opposite ends of length]

	~~500N > 16 mm~~

	~~1000N > 17 mm~~

	~~1500N > 17 mm~~

	~~2000N > 17 mm~~

	~~2500N > 17 mm~~


	*8” width A and B by 8” length by 1” thickness A36 steel angle

	**[Vertical Force (Load face faces downward) + Vertical Gravity] [Wall and force at opposite outward larger faces]

	~~500N > 0.92mm~~

	~~1000N > 0.92 mm~~

	~~1500N > 0.1 mm~~

	~~2000N > 0.11 mm~~

	~~2500N > 0.12 mm~~

	**[Horizontal Force (Load face faces horizontally) + Horizontal Gravity] [Wall and force at opposite outward larger faces]

	~~500N > 0.097 mm~~

	~~1000N > 0.11 mm~~

	~~1500N > 0.12 mm~~

	~~2000N > 0.13 mm~~

	~~2500N > 0.14 mm~~


	~~=Design Resources=~~

	~~[https://cours.etsmtl.ca/gpa774/Cours/old-24-03-04/Documentations/Fanuc/81015en01.boo/toc.htm FANUC Maintenance Manual]~~

	~~[[Category:~~ Industrial Robot]]

YK: organizing into main ind. robot pages

2011-07-20T06:26:17Z

organizing into main ind. robot pages

← Older revision		Revision as of 06:26, 20 July 2011
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	In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.		In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.

	~~=Stepper Motor=~~

	~~[http://www.solarbotics.net/library/pdflib/pdf/motorbas.pdf Solarbotics on Stepper Motors]~~

	~~[http://en.wikipedia.org/wiki/Stepper_motor Wikipedia on Stepper Motors]~~

	~~Stepper motors can be electronically operated and can turn the handle on needle valves; in relation, the function of the stepper motor is to allow the electronic control of needle valves.~~

	A stepper motor can be mounted onto a bracket then connected to the needle valve adjusting handle through a shaft coupling connection. The overall design must allow for the shaft, coupling, or handle to move parallel to the shaft because the needle valve moves slightly up or down when turning in its threads.

	~~In total, 6 stepper motors are required to adjust the 6 needle valves.~~

	=Force Analysis=		=Force Analysis=

YK: organizing into main ind. robot pages

2011-07-20T06:17:53Z

organizing into main ind. robot pages

← Older revision		Revision as of 06:17, 20 July 2011
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	In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.		In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.

	~~=Hydraulic Motor=~~

	~~[http://en.wikipedia.org/wiki/Hydraulic_motor Wikipedia on Hydraulic Motors]~~

	~~[http://www.dta.eu/product/4/Hydraulic-Motors.html Damen Technical Agencies on Types of Hydraulic Motors]~~

	~~Hydraulic motors move the industrial robot at each of its 6 joints.~~

	~~Possibility is epicyclic (gerotor) motors~~

	*Joint 1 (Base Rotation) Motor: after gear reduction, required to have torque of upwards of X

	*Joint 2 (Base Tilt) Motor: after gear reduction, required to have torque of upwards of X

	*Joint 3 (Elbow Tilt) Motor: after gear reduction, required to have torque of upwards of X

	*Joint 4 (Wrist Rotation) Motor: after gear reduction, required to have torque of upwards of X

	*Joint 5 (Wrist Tilt) Motor: after gear reduction, required to have torque of upwards of X

	*Joint 6 (Endeffector Rotation) Motor: after gear reduction, required to have torque of upwards of X

	*where L is the load force (mass of the load multiplied by the gravitational acceleration)
	*where D is the perpendicular distance from the joint shaft to the application point of the load force
	*assuming 100% efficiency during gear reduction

	=Stepper Motor=		=Stepper Motor=

YK: organizing into main ind. robot pages

2011-07-20T06:06:27Z

organizing into main ind. robot pages

← Older revision		Revision as of 06:06, 20 July 2011
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	In total, 6 stepper motors are required to adjust the 6 needle valves.		In total, 6 stepper motors are required to adjust the 6 needle valves.

	~~=Gearbox=~~

	~~[http://me.queensu.ca/courses/MECH323/documents/MECH323-06-2009GearBox.pdf Presentation Slides on Gearbox Design]~~

	~~The gearbox is used to make a torque-speed tradeoff with the hydraulic motors. In this case, the speed of the hydraulic motors must be reduced and the torque increased.~~

	By virtue of using hydraulic drive, the motor shaft speeds are low enough that we might be able to use a compact spur gearbox at each joint instead of a more complicated configuration such as harmonic drive.

	~~The gearbox must accomodate a shaft encoder.~~

	~~The gearbox must have an output shaft that is keyed and fastened to a hub; the hub will be bolted to the next frame piece in the design.~~

	~~The gearbox must withstand the various kinetic forces that exist when the industrial robot is stationary or moving.~~

	=Force Analysis=		=Force Analysis=

YK: organizing into main ind. robot pages

2011-07-20T05:59:16Z

organizing into main ind. robot pages

← Older revision		Revision as of 05:59, 20 July 2011
Line 4:		Line 4:

	In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.		In FreeCAD, a 3d mesh drawing can be exported as an stl file; alternatively, a 2d drawing can be exported as a dxf or svg file. Any of these files can then be imported in PyCAM, in which toolpaths can be generated for those drawings. These toolpaths can then be exported from PyCAM as a gcode file. EMC2 can then import the gcode file and simulate the toolpath, plus send logic signals to an external electronic controller that moves a machine to correspond to the toolpath. This toolchain allows digital fabrication to be utilized for the construction of the industrial robot.

	~~=Mechanical Concept=~~

	~~[[Image:6axisrobotmech.png\|200px]]~~
	~~[[Image:Minimum Frame Robot.png\|200px]]~~
	~~[[Image:minframerobotCAD.png\|200px]]~~
	~~[[Image:CADRobot1.png\|200px]]~~
	~~[[Image:IndustrialRobot3.png\|200px]]~~
	~~[[Image:CADRobot4.png\|200px]]~~
	~~[[Image:CADRobot5.png\|500px]]~~

	=Hydraulic Motor=		=Hydraulic Motor=

YK at 05:56, 20 July 2011

2011-07-20T05:56:11Z

@@ Line 52: / Line 52: @@
 In total, 6 stepper motors are required to adjust the 6 needle valves.
 =Gearbox=
@@ Line 72: / Line 66: @@
 The gearbox must withstand the various kinetic forces that exist when the industrial robot is stationary or moving.
 =Force Analysis=

YK: /* Stepper Motor and Needle Valve Mounting Bracket */

2011-06-18T18:24:57Z

Stepper Motor and Needle Valve Mounting Bracket

← Older revision		Revision as of 18:24, 18 June 2011
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	Green is stepper motor, mounted directly onto the angle piece. Yellow is the stepper motor shaft, connected directly to the orange coupling (square bar with holes at each end for the shafts and holes at sides for set screws). The orange coupling is connected directly to the needle valve shaft. The blue needle valve is held between 2 plates. The 2 plates are held in place by 3 bolts that connect to the main angle piece.		Green is stepper motor, mounted directly onto the angle piece. Yellow is the stepper motor shaft, connected directly to the orange coupling (square bar with holes at each end for the shafts and holes at sides for set screws). The orange coupling is connected directly to the needle valve shaft. The blue needle valve is held between 2 plates. The 2 plates are held in place by 3 bolts that connect to the main angle piece.

	[[Image:Stepneedlemount.~~png~~]]		[[Image:Stepneedlemount.jpg\|300px]]

	=Gearbox=		=Gearbox=

YK: /* Stepper Motor and Needle Valve Mounting Bracket */ Simpler coupling

2011-06-18T18:22:47Z

Stepper Motor and Needle Valve Mounting Bracket: Simpler coupling

← Older revision		Revision as of 18:22, 18 June 2011
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	=Stepper Motor and Needle Valve Mounting Bracket=		=Stepper Motor and Needle Valve Mounting Bracket=

	Green is stepper motor, mounted directly onto the angle piece. Yellow is the stepper motor shaft, connected directly ~~to the pink hub. The pink hub is bolted~~ to the orange ~~hub, completing~~ the ~~shaft coupling~~. The orange ~~hub~~ is connected directly to the needle valve shaft. The blue needle valve is held between 2 plates. The 2 plates are held in place by 3 bolts that connect to the main angle piece.		Green is stepper motor, mounted directly onto the angle piece. Yellow is the stepper motor shaft, connected directly to the orange coupling (square bar with holes at each end for the shafts and holes at sides for set screws). The orange coupling is connected directly to the needle valve shaft. The blue needle valve is held between 2 plates. The 2 plates are held in place by 3 bolts that connect to the main angle piece.

	[[Image:Stepneedlemount.png]]		[[Image:Stepneedlemount.png]]

YK: /* Mass */ Updated main arm and forearm angle masses

2011-06-06T22:15:14Z

Mass: Updated main arm and forearm angle masses

← Older revision		Revision as of 22:15, 6 June 2011
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	*Base Angle: 33.6 pounds, or 15.2 kilograms		*Base Angle: 33.6 pounds, or 15.2 kilograms

	*Main Arm: ~~120~~.96 pounds, or 54.98 kilograms		*Main Arm: 80.64 pounds, or 36.7 kilograms

	*Forearm Angle: 33.6 pounds, or 15.2 kilograms		*Forearm Angle: 50.4 pounds, or 22.9 kilograms

	*Forearm Hub: 8.96 pounds, or 4.1 kilograms		*Forearm Hub: 8.96 pounds, or 4.1 kilograms
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	*Gearbox 6: est 30 pounds, or 13.6 kilograms		*Gearbox 6: est 30 pounds, or 13.6 kilograms

	*Sum of components including and after main arm: ~~332~~.48 pounds, or ~~151~~.13 kilograms		*Sum of components including and after main arm: 386.06 pounds, or 175.5 kilograms

	=Force Analysis=		=Force Analysis=