ppt

1. TECHNICAL IMPROVEMENT IN PICK & PLACE
ROBOT ARM MACHINE BY GIVING ALTERNATE
TURN TABLE MACHINE.
GUIDED BY: RESPECTED PROF.MADHAV OZA SIR
STUDENTS ENROLLMENT NO.
KASUNDRA PRATIK ASHOK 120510119072
PATEL RUTUL BHARATBHAI 120510119098
NAYAK BHAVINKUMAR
PRAFULLKUMAR
120510119106

2. PROCEDURE
• Abstract
• Definition/Project Title
• Background
• Literature Review
• Specifications
• Design calculation
• Solidworks Screenshot
• Project work
• Expected Outcome
• Application
• Future Work
• Schedule
• Acknowledgements
• Referances

3. ABSTRACT
REFRIGERATION INDUSTRIES HAVING SUCH BIG
PICK & PLACE ROBOT ARM MACHINE .THEY ARE
USED TO LIFT & ROTATE THAT DEEP
FREZZER(PRODUCT) FROM ONE PLACE TO
ANOTHER.WE HAVE FIND SUCH PROBLEM OF
REGULARLY FAILURE & DAMAGE OF PRODUCT
BY THIS MACHINE DUE TO LIMITATION OF
BACKLESS,TOLERANCES & DESIGN LIMITATION
PROBLEM. SO,WE ARE TRIES TO GIVE
ALTERNATE SOLUTION FOR THIS PROBLEM BY
GIVING ALTERNATE TURN TABLE M/C.HENCE,WE
GIVE THE SUSTAINABLE & MODIFIED DESIGN OF
TURN TABLE M/C FOR PICK & PLACE ROBOT ARM
M/C.

4. DEFINITION/PROJECT TITLE
TECHNICAL IMPROVEMENT
IN PICK & PLACE ROBOT
ARM MACHINE BY GIVING
ALTERNATE TURN TABLE
MACHINE.

5. BACKGROUND
In Refrigeration Industries Pick & Place Robot Arm
M/C Are Widely Use For Transfer Of
Product(deepfreeze) From One Conveyor To Another
.It’s Special Purpose M/C Of That Industries ,Which
Was Made To Perform That Task Perfectly.
But , Due To Mechanical Machining Limitation ,
Tolerance & Backless Problem That Damage The
Product Regularly & Also Affect It’s Via Producing
Dents , Scratch Marks Etc.
Due To That The Economical As Well As The Rework
Of That Company Was Increased .
So, We People Are Giving Another Arrangement To
Solve This Problem By Giving Alternate Turn Table
M/C

6. BACKGROUND
Turn Table Will Remove All The Adverse Effect Which
Was Done By The Pick & Place M/C On The Product .
It Will Done The Same Task Of Rotating & Lifting On
Base Table Instead Of Trapping In Arms In Pick &
Place M/C.
It Will Just Work On Pneumatic System So Regular
Cost Of Working As Well As Maintenance Will Very
Low As Compared To Pick & Place M/C . Turn Table
Will Be The Perfect Design For That Task & It Will
Have Many Advantage Over The Conventional System
.
By Implementing This M/C The Industry Will Save
Money ,Rework Time As Well As Increase The
Productivity .

7. PIC OF PICK AND PLACE ROBOT ARM MACHINE

8. Literature Review
TOPIC.1:-ROBOTIC ARM PICK AND PLACE SYSTEM
AUTHOR:-Mark Anthony B. Mabanta, Jerome P. Pabillaran, et.al.
Engr. Maridee B. Adiong
Conclusion:- In This Paper , The Proto-Type Robotic Arm Pick And Place System
Utilizes
Programmable Logic Controller, Sensor Technology, And Pneumatic
Components Such As Compact Cylinder, Linear Cylinder, Rotary
Cylinder, Gripper, And Directional Valves. The Robotic Arm Pick And
Place System Is Composed Of A Loading Station, Testing Station,
Processing Station, And Sorting Station. It Can Be Generalized That
The Robotic Arm Picks And Place System Has Satisfied The Motion
Sequence Of The System Intended To Manipulate Every Process By
Ladder Programming Through The Use Of Programmable Logic
Controller (Plc).

9. TOPIC.2:-MODULAR PICK-AND-PLACE DEVICES
AUTHOR:-Stefan Hesse, Blue Digest
Conclusion:- In This Paper ,The Origin Of Pick & Place M/C And It’s Contineous Development
Phases Are Suggested.It’s Also Contain The Whole Design ,Logical Operation .And Many Oter
Detail About The Grapping System ,Holding System & Rotating System Of Pick & Place M/C.
TOPIC.3:-Pick and Place Robotic Arm Controlled By Computer
AUTHOR:-MOHAMED NAUFAL BIN OMAR, Faculty of Manufacturing Engineering
April, University Technical Malaysia Melaka Conclusion:- In This Paper, In The Field Of
Robotics, T The Focus Is On 5 Dof Articulated
Arm Since It Mimic To Human Arm. Articulated Arm Consists Of Revolute Joints That Allowed
Angular Movement Between Adjacent Joint. The Shoulder Uses
Two Large-Scale Servos, Working Together To Provide The Torque Needed To Lift The Rest Of
The Arm, As Well As Any Object That It May Be Grasping. The Controller Circuit Board Is
Based On
Microchip's Popular Programmable Integrated Circuit (Pic) 16f84a Flash Programmable
Microcontroller. The Serial Servo Controller Board Will Be Connected To The Serial Port On A
Pc Running The Microsoft Windows Operating System.

10. TOPIC.4:-Design Of A Servo Driven, Adjustable Pick And Place Mechanism
AUTHOR:- Professor Robert L Norton ,Worcester Polytechnic Institute
Worcester, MA
CONCLUSION:- In This Paper , The Linkage Is Driven By A Servo Motor Coupled With A
Low Ratio Gearbox. The Linkage Fits Within The Envelop & Stoke Length Is Adjustable Which
Leads To Effective Servo Graph The Stroke Lengths Can Also Be Drastically Modified By
Changing The Distance Between The Pivot Point Of The Crank And The Pivot Point Of The
Rocker. ; It Would Still Result In A Lower Down-Time Than Replacing A Cam. The Final Safety
Factor Was Good And Safe By Calculation.
TOPIC.5. - Design and Implementation of Robot Arm Control Using Lab VIEW and ARM
Controller
AUTHOR:-
Mr. C. Chandra Mouli1, Ms. P. Jyothi1, Prof. K. Nagabhushan Raju2, Prof. C. Nagaraja2 1
Research Scholar of Instrumentation Department, Sri Krishnadevaraya University, Anantapur,
A.P., INDIA 2 Department of Instrumentation, Sri Krishnadevaraya University, Anantapur, A.P.,
INDIA
CONCLUSION:-Dexter ER-2 5DOF robotic arm, inverse kinematic model and control was
developed using Lab VIEW and ARM microcontroller. Lab VIEW was used to calculate the IK
model to evaluate the joint angles of the robot arm. The correct position of the end effector with
respect to ta robot arm has been compared with the application of picking a general purpose Hi-
Watt 9V battery and placing it in the predefined space

11. RESEARCH TOPIC.6.:- DESIGN AND MANUFACTURING OF LOW COST PNEUMATIC
PICK & PLACE ROBOT.
AUTHOR: - RAKESH.N, PRADEEP KUMAR.A, AJAY.S.
INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 2
,ISSUIE 8, AUGUST 2013
Conclusion:-In This Paper A Cheap & Effective Method For Design & Manufacturing Of A 3
Degree Of Freedom Revolute Jointed Robotic Arm.
The Operation Of Various Arm Linkages And The End Effector Has Been Extensively Testing
And The Required Corrective Measures Are Taking In This Paper.
Hence, The Objective Of Designing And Manufacturing Of A Pick And Place Robot At
Low Cost Is Successful And Can Be Implementing To Replace The Expensive Electronic Robots.
Research Topic.7.:-Microcontroller Based An Autonomous Wireless Line Tracking Robot.
Author:-Dheepak Mohanraj
Assistant Professor, Department Of Eee, Amet University, Chennai, India.-Mohanraj,
International Journal Of Advanced Engineering Research And Studies E-Issn2249–8974
Conclusion:-In This Paper,An Autonomous Robots Which Can Be Controlled With Wireless
Technology From The Remote And This Robot Follows
The Line And Move To The Desired Location And Perform Pick And Place Operation Of Item.
These Autonomous Unmanned Robots Can Communicate With Adhoc Network And Can
Perform Better Operation.

12. Specifications
Material Specification:-
• Material Specification
• Standard Design
• Body Extrusion Natural Colour, Anodised Aluminium
• End Cover Black Anodised Aluminium
• End Cover Inserts Pom
• End Cover Nuts/Screws Zinc Plated Steel 8.8
• Piston Rod Nut Zinc Plated Steel
• Piston Rod Stainless Steel, X 10 Crnis 18 9
• Scraper Ring Pur
• Piston Rod Bearing Pom
• Piston Pom
• Piston Bearing Pom
• Magnetic Ring Plastic Bound Magnetic Material
• Piston Bolt Zinc Plated Steel
• Piston Seal Pur
• O-Rings Nitrile Rubber, Nbr
• End-Of-Stroke Washers Pur
• Cushioning Seals Pur
• Cushioning Screws Lcp
• Material For Base Table:-Farrous Alloy
• Material For Fastners:-Farrous Alloy

13. Components Used
• Valves
• Cylinders
• Position Sensing
• Switch Technology
• Circuits
• Basic Control Circuits
• Advanced Control Circuits
• Air Filtration, Regulation, And Lubrication
• Base Table
• Fastners

14. Design calculation
DESIGN OF PNEUMATIC SYSTEM FOR TURN TABLE.
1. Cv:- (COEFFICIENT OF VELOCITY)
USE:-FOR COMPARISION OF FLOW OF VALVES.
THE HIGHER TH Cv ,THE HIGHER THE FLOW.
2.SCFM:- (STANDARD CUBIC FEET PER MINUTE):-
USE:-IT’S HELPFUL TO CONVERT Cv INTO SCFM AND SCFM INTO Cv VICE-
VARSA.
Cv REPRESENTS FLOW CAPACITY AT ALL PRESSURES & SCFM
REPRESENTS FLOW AT SPECIFIC AIR PRESSURE.

15. Cv TO SCFM CONVERSTION:-
STANDARD ISO Cv TO SCFM CONVERTION FACTOR TABLE:-
PSI OF AIR
PRESSURE
40 50 60 70 80 90 100
FACTOR .0370 .0312 .0270 .0238 .0212 .0192 .0177
TAKING MAXIMUM PRESSURE FOR DESIGN :-
FROM THAT P= 100 psi & Cv= 3.35 (AS CALCULATED).
S.C.F.M. = Cv/FACTOR
= 3.35/.0177
= 189.45 scfm

16. METHOD:-1:-CALCULATION:-This formula and chart will give the Cv (Valve flow)
required for operating a given air cylinder at a
specific time period.
INTRODUCTION:-Two methods are shown below to aid in the selection of a pneumatic
valve. To account for various
losses in all pneumatic systems, remember to over-size by at least 25%.
Cv=Area*Stroke*A*Cf/Time*29
Area = π x Radius^2 (see table B)
Stroke = Cylinder Travel (in.)
A = Pressure Drop Constant (see table A)
Cf = Compression Factor (see table A)
Time = In Seconds

17. NOTE :-IN TABLE “A” 2psi USE ONLY FOR CRITICAL APPLICATION .
5psi USE FOR MOST OF APPLICATION
10psi USE FOR LIMITING MOUNTING SPACE
CONSIDERATION.

18. CALCULATION:- Cv=(Area*Stroke*A*Cf)/(Time*29)
=(50.27*8*0.031*7.8)/(1*29)=3.35
DESIGN PARAMETERS:-
1)PRESSURE=100psi
2)BORE SIZE=8 INCH.
3)AREA=50.27 sq.in.

19. METHOD:-2:-CHART
Index Cv against Bore Size vs. Inches of stroke per second. Assuming 80 psi and ΔP = 80%

20. BORE SIZE=8 inch=203.20mm≈210mm.
ROD DIA.=100mm.
STROKE LENGTH=240mm.
FORCE=10kN.(ASSUME).
FLOW RATE OF 12 dm^3/min(AS PER STANDARD).
AREAS:-
(1)MAJOR AREA{A}:-
𝑨 = 𝝅𝑹 𝟐= 𝜋*(210/2)^2=34.64*10^-3 m^2
P=F/A
P=(10*10^3)/(34.64*10^-3)
P=0.2887*10^6 N/m^2
(2)MINOR AREA{a}:-
a= 𝝅𝒓 𝟐
= 𝜋*(100/2)^2=7.85*10^-3 m^2
PULLING FORCE:-
F = p*(A-a)
F = 0.2887*10^6*
({34.64*10^-3}-{7.85*10^-3})
F=7734.273N
FLOW RATE:-
Q=0.012/60
Q=20*10^-3 m^3/s
SPEED OF OUTWARD STROKE(So):-
So=Q/A
So=(20*10^-3)/(34.64*10^-3)

21. SPEED OF RETRACTION(Sr):-
Sr=Q/(A-a)
Sr=(20*10^-3)/
({34.64*10^-3}-{7.85*10^-3})
Sr=0.7465m/s
POWER(P):-
P= p*Q
P= (0.2887*10^6)*(20*10^-3)
P=5774W
P=5.774KW

22. Solidworks Screenshot
Fig.3.1.Top View Of Turn Table Machine By Solidworks
Model

23. Fig.3.2.View Of Base Plate Of Turn Table Machine
Fig3.3 Right Hand Side View Of Turn Table Machine

24. Fig.3.4 left Hand Side View Of Turn Table Machine
Fig.3.5 Front View Of Turn Table Machine

25. Fig.3.6 Top View Of Turn Table Machine
Fig.3.7 Isometric View Of Turn Table Machine

26. ROLE PLAN OF PROJECT
DESIGN &
DEVELOPMENT
BHAVIN
ENGINEERING
ANALYSIS
PRATIK
DOCUMENTATION
RUTUL
FABRICATION &
MANUFACTURING
WHOLE TEAM
ASSEMBLY &
INSTALLATION
WHOLE TEAM

27. EXPECTED OUTCOME
It Will Save Economy & Rework Time & Increase In
Quality Of Product & Also Increase In Productivity.
It Will Work On Pneumatic System Which Is Self
Cleaning & Low Cost Affected Process & Low
Maintenance.
The Payback Of Implementation Of New M/C
Instead Of Old One Within A Couple Of Year ,
Which Leads To Increase Every System Parameters.
Hence , The Adaption Of This M/C Which Will
Design ,Manufacture & Assemble By Our Team Will
Have Many Advantage Over Pick & Place M/C Via
The Use Of Turn Table M/C.

28. APPLICATION
It Will Be Useful To Every Refrigeration Industries
Which Used Pick & Place M/C.
It Can Be Also Use In Rotary Table Where The Turn
Table Worked As Rotary Conveyor , Transformation
Of Product Via Rotate As Well As Lifting Needed .
It Can Be Directly Used As Load Carrying Device
Where Lifting Needed ,Such Like Automobile
Service Station.
 It Can Be Also Used In Book Publishing Houses For
Final Books Were Needed To Lift & Rotate .
It Can Be Used Each & Every Rotating & Lifting
Task Up To Certain Load Limit Capacity Of M/C
Design.

29. FUTURE WORK
It’s Basically Pneumatics Application Which Will
Having Many Day By Day Innovation .So , Future
Scope Of This Project Will Be Much Higher .
In Future ,We Will Do More Advance Technological
Adaption Like Advance Material ,New Pressure
Capacity ,Auto Transfer Of Fluid(air) With
Application Of Higher Pressure Capacity Via Using
The Same Capacity Reservoir
It Can Also Adapt Fugacity Concept Of
Thermodynamics To Increase The Pressure At
Varying Condition.

30. OUR SCHEDULE
JUNE JULY AUGUST SEPTMBER OCTOBER
IDENTIFICATIO
N OF PROBLEM
DEFINATION &
LITRAURE
REVIEW
DESIGN &
DEVELOPMENT
SOFTWARE MODELLING &
MATERIAL SELECTION
DOCUMENTATION
FOR 7 TH SEMESTER
FUTURE WORK FOR
8 TH SEMESTER

31. Acknowledgements
MR. KHATWANI
H.O.D OF PLANT
BLUE STAR INDIA PVT.LTD,
CHANGODAR,A’BAD
MR. K.J.RAO
MANAGER ,
BLUE STAR INDIA PVT.LTD,
CHANGODAR,A’BAD
MR. KETAN SHUKLA
MAINTANANCE H.O.D,
BLUE STAR INDIA PVT.LTD,
CHANGODAR,A’BAD

32. • Bimba Company Of Pneumatic Application;bimba Handbook & Referance Book For Pneumatic
System
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• Maloney, Timothy, Industrial Electronics, 7th Edition, Tintprinting, Health Company, 1995.
• Montecastro, Anna Marie N., Info Net Magazine, 2nd Quarter Issue, Vol. 8, 2000
• Hesse, S.: Montagemaschinen (Assembly Machines). Published By Vogel Verlag,
• Würzburg 1993
• Hesse, S.: Handhabungsmaschinen (Handling Machines). Published By Vogel
• Verlag, Würzburg 1993
• Hesse, S.: Praxiswissen Handhabungstechnik In 36 Lektionen (Practical Handling
• Technology In 36 Lessons). Published By Expert Verlag, Renningen 1996
• Sanjay Lakshminarayan, Shweta Patil, Position Control Of Pick And Place Robotic Arm,
International Conference On Engineering Innovation And Technology, Isbn : 978-93-81693-77-3,
Nagpur, 1st, July, 2012.
• Ashraf Elfasakhany, Eduardo Yanez, Karen Baylon, Ricardo Salgado, Design And Development Of
A Competitive Low-cost Robot Arm With Four Degrees Of Freedom, Modern Mechanical
Engineering, 1, November 2011, 47-55.
• Adrian Olaru And Serban Olaru, Optimization Of The Robots Inverse Kinematics Results By
Using The Neural Network And Labview Simulation, 2011 International Conference On Future
Information Technology, Ipcsit Vol.13 2011, Iacsit Press, Singapore, 40-45.
• Serdar Kucuk And Zafer Bingul, Industrial Robotics: Theory, Modelling And Control, (Isbn 3-
86611- 285-8, Germany, December 2006, Edited By: Sam Cubero).