Industrial Robot Development: Difference between revisions

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(Added to design rationale)
 
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{{ToolTemplate|ToolName=Industrial Robot}}
#REDIRECT [[Industrial Robot/Research Development]]
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=Progress Report=
 
General Developmental Bill of Materials Completed
 
Mechanical Design Illustrated
 
Denavit-Hartenberg Kinematic Parameters Completed
 
Electrical Design Illustrated
 
Hydraulic Design Illustrated
 
Systems Engineering Diagrams Added
 
=List of Unanswered Questions=
 
Circuit schematic, construction and mounting procedure for shaft encoder onto hydraulic motors?
 
Design, construction, and mounting information for stepper motor-needle valve connector piece
 
=Task List=
 
Continue design optimization and understanding through research and collaboration
 
Complete force analysis on different mechanical designs
 
Complete calculations for required specifications of various industrial robot components (eg. required pressure from pump, required torque from motors)
 
Complete CAD files for various components of the industrial robot
 
Complete build instructions
 
Complete user's manual
 
=Design Rationale=
 
*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).
 
*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.
 
*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.
 
*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.
 
*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.
 
*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).
 
*[Type of Encoder]
 
[[Category: Industrial Robot]]

Latest revision as of 11:40, 28 January 2012

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