Abstract
The manipulators arms are the most important components in automatic machinery and equipment. These arms must conform to product requirements and match important accessory devices such as clamping jaw so that the entire process operates properly. Therefore the most important issue is that the manipulator arm has only one clamping jaw, followed by other issues such as welding and related features. In this research the manipulator arm of automated machinery with attached equipment was optimized, and the design serves as an object of study for multifunctional applications. This research emphasizes on customized manipulator design to create products with distinguished styles and characteristics, and serve as a basis for an improvement on innovative design. Manipulator arms from different manufacturers with various head-disc size and screw-hole locations were investigated, and concept of human palm was incorporated in the design to create a mechanical fixture that can be fitted into the arm. Overall design including main body of the manipulator, pneumatic cylinder set, gear and connecting rod combination, planet gear set, and linkage rods and fixture. These components were combined to offer the functions of the manipulator. Commercial software package, SolidWorks, was used to construct the model for the manipulator arm, and CAE analysis was implemented to identify the stress on the structure and possible interferences of the mobile components. Stress analysis was also performed on the gear set under pneumatic loading to ensure that the gear mechanism has a sufficient strength. The results of this study showed that an arc shaped manipulator body is the most easily handled during installation and most effectively controlled during operation. The simple profiles of the manipulator also lower the space required for storage. The design of the gear set and integrated application of the shaft helps prevent loosening of gear and shaft during operation. In this study, a manipulator was designed with three different functions, each fixture is powered by an isolated pneumatic cylinder, and this mechanism can be manipulated to form o0to o180clamping action in accordance with requirements of the task. The methods and results of this study serve as a reference for machinery industry to achieve high quality product, and also as a basis for innovative design.
Highlights
With the progress of time, the uses of robots for various occasions with diverse applications are increasing in the market
A mechanical arm is composed of a mechanical main body, controller, servo mechanism, and sensor, and its actions are set by the program input by a computer according to the operation demands
4.15 von Mises stress was applied to the manipulator fixture; planetary external gear supported the interaction of the connecting rod and fixture, and equivalent stress of this structure was calculated under a yield strength of 530 MPa to obtain the maximum load above the fixture of 680.68 N
Summary
With the progress of time, the uses of robots for various occasions with diverse applications are increasing in the market. The Keio University in Japan designed a five-fingered robot hand [2] equipped with capabilities for performing space missions, solving Rubik’s Cube problems, classifying medicines, and even cooking every day dishes such as pancakes It is rather impossible for a mechanical arm to complete certain complex manual operative tasks, such as flexible rolling, rotating, bending, and friction-sensing, because it consists of multiple parts and components, including crank, connecting rod, joint, slider, gear, belt, and bearing [3]. This information was utilized to further control the movement of the joint and fingers in order to realize the actions of grabbing objects, etc. In 1962, the first industrial robot in the world was installed in the production line of the GM Automobile Company in the United States [10]
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