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Design Calac Manipurlatr

Design of a robotic manipulator

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11 views4 pages

Design Calac Manipurlatr

Design of a robotic manipulator

Uploaded by

souvik8252714630
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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4.

Design Calculations:

4.1 Design of the Base -


The Base consists of upper and lower parts. They are 3D printed for accuracy and
proper dimension. The parts are made out of ABS plastic due to their favorable mechanical
properties, including impact resistance, heat resistance, and chemical resistance .This
approach allows for a groove in between them which can hold ball bearings for smooth
relative movement between the two sections.
The diameter of balls in a thrust bearing influences surface traversal on rough
surfaces. Larger balls provide better contact area, reducing localized pressure and potential
for getting stuck which is prominent as The parts are 3D printed and very high surface
roughness. They may experience less rolling resistance and higher load capacity compared
to smaller balls.

4.1.1 Design of Lower base-


The lower base is designed as a circular plate
--

Figure- Lower Base Figure- Upper Base

4.2 Selecting the motor at each joint-

Selecting motors with adequate static torque ensures stability during idle periods
and when holding loads, while motors with sufficient dynamic torque facilitate precise
movement and acceleration. Factors such as weight distribution, payload, acceleration rates,
and motion profiles should be considered to select motors.

Static Torque / Holding Torque Dynamic Torque


 Maintains stationary position  Enables motion and maneuverability
 Counteracts external forces like gravity  Overcomes inertia during acceleration
 Essential for stability during inactivity  Crucial for smooth movement and
precision
 Required for static equilibrium  Necessary for dynamic tasks and
trajectories
 Maintains stationary position  Enables motion and maneuverability

4.2.1 The Principle of Virtual Work to calculate Dynamic Torque -


According to the principle of virtual work, the virtual work done by the external
forces acting on a system in equilibrium is zero for any virtual displacement consistent with
the constraints of the system. All the forces acting on each link of the robotic arm were
determined.

Equation for Virtual Work:


The equation for virtual work can be represented as:

where:
- is the torque at joint i ,
- is the virtual displacement at joint i,
- is the force acting on the link, and
- is the virtual displacement along the direction of the force.

4.2.2 Calculating the holding torque in robotic arm linkages :

The mathematical relation can be expressed as:

Where;
- : Holding torque required at a specific joint.
- : Torque due to gravitational forces.
- : Torque due to external loads.

Torque Due to Gravitational Forces :


This torque depends on the weight distribution of the robotic arm and the lengths of the
linkages. If represents the mass of each segment of the arm and represents the
distance from the joint to the center of mass of each segment, then the torque due to
gravitational forces at a specific joint can be calculated as:

2. Torque Due to External Loads :


If there are external loads or payloads attached to the robotic arm, the torque due to these
loads around each joint can be calculated separately and added to the holding torque.

4.3 Designing the Links:


The links are made of hollow rectangular cross section with dimension (2.5cm *
3.75cm) and thickness of 2mm . The length of the link was determined based on the
dexterity and reach requirements of the manipulator.

Where:
- is the thickness of the hollow rectangular section.
- is the applied axial load.
- is the length of the link.
- is the outer height of the rectangular section.
- is the outer width of the rectangular section.
- is the allowable stress for the material of both the outer and inner walls.

Such a geometry was easily available in the marketplace making it cost effective. It
also has high bending stress and it easier to integrate with the servo motors making it the
ideal choice.

4.4 Designing of the End-Effector


The End Effector has been designed keeping the particular job in mind. Its profile is
semicircular with the gripping surface lined with rubber with grooving. End effector is made
of strips of Mild Steel and lead screw (M8 nominal diameter and pitch of 2mm) is used to
convert angular movement of motor to translation motion of gripper. It also amplifies
torque.A pancake stepper motor is used with rated maximum torque of 850 g-cm.

The Dynamic torque required by the motor to create the necessary force to hold the
object is given by the below formula

Where:
- T is the torque (in Nm),
- F is the linear force (in N) you want to generate,
- P is the pitch of the lead screw (in meters),
- is the mathematical constant ,
- is the coefficient of friction between the screw and the nut.

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