Industrial Robotics

BMFA 4493ASSIGNMENT 2

GROUP MEMBERS

NORAIDAHBTE BLARRASHIDAH BT JOHARIHASYIMAH BINTI RAZAK NUR SUFIAH AKMALA BT

RAMDANNURUL HAZWANI BINTI ZAKARIAJOSEPH RANGGA

1.To differentiate between mechanically closed loop and open loop robotic systems.

2.To conduct stress analysis on generic robot links.

3.To examine the selection of different cross sections fot the links.

Introduction

Serial Robot

A series of links connected by motor-actuated joints that extend from a base to an end-effector.Have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist“.Have six joints, because it requires at least 6 degrees of freedom.

Parallel Robot

Uses several computer-controlled serial chains to support a single platform, or end-effector.Formed from six linear actuators that support a movable base for devices. End effector(or 'hand') of this linkage (or 'arm') is connected to its base by a number of (usually three or six) separate and independent linkages working in parallel.

ResultsSerial Robot

Material Iron

Young's modulus 1.2e+011N_m2

Poisson's ratio 0.291

Density 7870kg_m3

Coefficient of thermal expansion

1.21e-005_Kdeg

Yield strength 3.1e+008N_m2

Solid Round Rod

Solid Square Bar Material Iron

Young's modulus

1.2e+011N_m2

Poisson's ratio 0.291

Density 7870kg_m3

Coefficient of thermal

expansion1.21e-005_Kdeg

Yield strength 3.1e+008N_m2

Hollow ProfileMaterial Iron

Young's modulus 1.2e+011N_m2

Poisson's ratio 0.291

Density 7870kg_m3

Coefficient of thermal

expansion1.21e-005_Kdeg

Yield strength 3.1e+008N_m2

Hollow Square ProfileMaterial Iron

Young's modulus 1.2e+011N_m2

Poisson's ratio 0.291

Density 7870kg_m3

Coefficient of thermal expansion

1.21e-005_Kdeg

Yield strength 3.1e+008N_m2

PARALLEL ROBOT

Material Iron

Young's modulus 1.2e+011N_m2

Poisson's ratio 0.291

Density 7870kg_m3

Coefficient of thermal expansion 1.21e-005_Kdeg

Yield strength 3.1e+008N_m2

Comparison between Serial Robot

Arm design WMS

Solid round 6.47e+003

Solid square 4.9e+003

Hollow profile 3.06e+003

Hollow square 3.19e+003

Parallel less prone to positional error than serial robot because , lower mass/inertia properties, and higher structural rigidity (i.e. stiffness-to-mass ratio)

Simulation

Video

ConclusionWe can differentiate between

mechanically closed loop and open loop robotic systems

Successfully conduct stress analysis on generic robot links.

Results show that the parallel robots more accurate than serial robots.

Can examined the selection of different cross sections