Industrial Robot Development: Difference between revisions

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{{ToolTemplate|ToolName=Industrial Robot}}
#REDIRECT [[Industrial Robot/Research Development]]
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=Master Diagram=
 
[[Image:IRMaster.jpg|500px]]
 
=Developers=
 
Paul Azevedo
 
Yoonseo Kang
 
Matthew Markudis
 
=Progress Report=
 
General Developmental Bill of Materials Completed
 
Mechanical Design Illustrated
 
Denavit-Hartenberg Kinematic Parameters Completed for Sample Design
 
Electrical Design Illustrated
 
Hydraulic Design Illustrated
 
Stepper Motor - Needle Valve Bracket Design Illustrated
 
Systems Engineering Diagrams Added
 
=Task List=
 
*Complete working concept pictures in build instructions
 
*Complete addition of specific dimensions in build instructions
 
*Complete CAD images in build instructions
 
*Complete addition of CAD files to repository
 
*Complete addition of CAM files to repository
 
*Complete programming instructions in build instructions
 
*Complete shaft encoder circuit diagram and add printed circuit board CAM file to repository
 
*Continue analysis (eg. FEA) and calculations (eg. required torque)
 
*Continue editing bill of materials to parallel development and build instructions
 
=Design Rationale=
 
*Hydraulic Drive
**Scales to very high payloads
**Requires low gear reduction
 
*Needle Valves and Solenoid Valves
**Simplifies design and fabrication
 
*Basic Frame
**Simplifies design and fabrication
 
*Spur gearbox
**Achieves high efficiency
**Incurs no axial force onto shaft
**Simplifies design and fabrication
 
*Incremental Encoder
**Simplifies design and fabrication
**Achieves high resolution
**Achieves absolute position encoding through homing
 
=Mass=
 
Given density of A36 steel as 0.28 pounds per cubic inch (numbers are in pounds):
 
*Frame
**Foundation Underplate: 81
**Foundation Pillar: 14
**Foundation Overplate: 36
**Base Angle: 84
**Main Arm: 16.8
**Forearm Angle: 42
**Forearm Plate A: 5
**Wrist Angle: 42
 
*Hydraulic Motors
**Hydraulic Motor 1: 20
**Hydraulic Motor 2: 20
**Hydraulic Motor 3: 20
**Hydraulic Motor 4: 20
**Hydraulic Motor 5: 20
**Hydraulic Motor 6: 20
 
*Gearboxes
**Gearbox 1:
**Gearbox 2:
**Gearbox 3:
**Gearbox 4:
**Gearbox 5:
**Gearbox 6:
 
=Repeatability=
 
The precision of the industrial robot is determined by the following factors (assuming sufficient control over hydraulic motors where the minimum non-zero movement interval causes a degree of movement that is less than the arc length of one encoder wheel sector):
 
*Deflection of frame components
*Resolution of shaft encoders
 
Repeatability then can be improved by the following methods:
 
*By bolstering the structural rigidity of the industrial robot, minimizing the deflection factor
*By augmenting the resolution of the shaft encoder, minimizing the resolution factor
 
Methods of improving the factors affecting repeatability include various considerations:
 
*Greater frame component volumes are more rigid but more heavy as to cause more and less deflection in certain regions (deflection-deflection tradeoff)
*In a gear reducer, the closer the stage to which the encoder wheel is connected, the lower the effective resolution (deflection-resolution tradeoff)
*In a gear reducer, larger encoder wheels necessitate larger and potentially less rigid container walls (resolution-deflection tradeoff
*In a gear reducer, perpetual contact between gears must be maintained for accuracy of the microcontroller's observation for the relationship between the mechanical state and the encoder's electronic output
 
=Frame and Gear Reducer Integration=
 
*Through design that integrates each gear reducer with corresponding frame components, material requirements are decreased while ease of fabrication, maximum payload, and structural rigidity all potentially increase.
*This integration does not allow gear reducers and frame pieces to be modules independently of each other; the extent to which the robot's components are modular is increased by one system level (instead of separate frame pieces and gearboxes, integrated frame-gearbox components)
*The extent of modularity does not change, however, for the following 2 critical frame components, still allowing the robotic arm to be versatile with regard to usage (different lengths and working envelopes are possible):
**Main arm
**Forearm
*Also, the end-effector remains modular as frame-gearbox integration does not affect such external components.
 
=Prototype Development=
 
*As various components of the industrial robot shift from commercial purchase to open source fabrication, design flexibility will increase, improving performance while reducing input resource usage.
 
 
[[Category: Industrial Robot]]

Latest revision as of 11:40, 28 January 2012

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