Industrial Robot Mechanical Design
Toolchain for Toolpaths
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.
Hydraulic Motor
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 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
- 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