A PROJECT SYNOPSYS ON

HYDRAULIC ROBOTIC ARM

SUBMITTED BY:
1.

PRASHANT BALHARA(04113103609)

2. SOURABH TIWARI(00213107410) 3. PIYUSH MITTAL(00613107410) 4. SATYA PRAKASH TIWARI(00713107410)

for MAJOR PROJECT

Under the guidance of Mrs.Pooja Kaushik

MAE DEPARTMENT GURU PREMSUKH MEMORIAL COLLEGE OF ENGINEERING, DELHI YEAR 2013

1. Introduction
The overall purpose of this project was to understand how hydraulic works. The basic idea of Hydraulic system is the force that is applied to one point is transmitted to another using fluid.

1.1

Objectives:

The main objective of this project is to build a unique kind of robotic algorithm to achieve a New kind of approachability in the field of robotics. The robotic arm is one of those types of different view for automation in machines. These robots are designed to clean or pull up and down any obstructions.

1.2

Scope:

In basic robotics we design machines to do the specified tasks and in the advanced version of it robots are designed to be adaptive, that is, respond according to the changing environment and even autonomous, that is, capable to make decisions on their own. While designing a robot the most important thing to be taken in consideration is, obviously, the function to be performed.

Here comes into play the discussion about the scope of the robot and robotics. Robots have basic levels of complexity and each level has its scope for performing the requisite function. The levels of complexity of robots is defined by the members used in its limbs, number of limbs, number of actuators and sensors used and for advanced robots the type and

number of microprocessors and microcontrollers used. Each increasing component adds to the scope of functionality of a robot. With every joint added, the degrees of freedom in which a robot can work increases and with the quality of the microprocessors and microcontrollers the accuracy and effectiveness with which a robot can work is enhanced.

Inputs: 1. Hydraulic cylinders (Syringe with clips and mounts) 2. Hydraulic Lines (Vinyl Tubing) 3. Perpendicular wooden blocks and Dowels 4. Chip board 5. Screws 6. 10 square nuts 7. 10 washers 8. Connector strips 9. Galvanised coloured wire 10. Rubber band

1.3 Methodology
Syringes are essentially simple hydraulic systems, as they operate by moving a liquid from one place to another. The difference is that a hydraulic system uses the liquid to move another object; syringes just move the liquid. This means that syringes are the most basic form of hydraulics. A Hydraulic system is a power transmission system that uses the force of flowing liquids to transmit power. It consists of two pistons and an oil-filled pipe connecting them. A hydraulic robotic arm is an arm that requires a hydraulic system in order to operate. A hydraulic robotic arm is often used for heavy, repetitive manufacturing work. They handle tasks that are difficult or dangerous to human beings by transporting objects from one place to another. A hydraulic robotic arm works with the use of a computer, which controls the robot by rotating individual step motors connected to each joint. Step motors move accordingly and precise.The robot also uses motion sensors to make sure it moves just the right amount. Components often found in a hydraulic robot arm include seven metal segments, joined by joints, as well as a pump, motor, and engine.The size and speed of the pump determines the flow rate. The load of the motor determines the pressure it gives off. It requires IMO pumps which supply hydraulic power to the system and are driven by electric motors. Hydraulic systems also require pressure control valves, flow control valves, which allow on-way flow and direction control valves. The syringes are used to pump fluids through the tube which will control the robot.To implement a robotic arm, two robotic arms are developed and studied. Afterwards the most effective robot arm is then utilized to create a robot arm network testbed. Robot arms are useful in many occupations, including medical field to deliver medication to patients or perform procedures,they are also used by NASA in space missions.

2.1 Introduction to Fluid power

Fluid power is a term which was created to include the generation, control, and application of smooth, effective power of pumped or compressed fluids (either liquids or gases) when this power is used to provide force and motion to mechanisms. This force and motion maybe in the form of pushing, pulling, rotating, regulating, or driving. Fluid power includes hydraulics, which involves liquids, and pneumatics, which involves gases. Liquids and gases are similar in many respects. The differences are pointed out in the appropriate areas of this manual. This manual presents many of the fundamental concepts in the fields of hydraulics and pneumatics. It is intended as a basic reference for all personnel of the Navy whose duties and responsibilities require them to have a knowledge of the fundamentals of fluid power. Consequently, emphasis is placed primarily on the theory of operation of typical fluid power systems and components that have applications in naval equipment. Many

applications of fluid power are presented in this manual to illustrate the functions and operation of different systems and components. However, these are only representative of the many applications of fluid power in naval equipment. Individual training manuals for each rate provide information concerning the application of fluid power to specific equipment for which the rating is responsible. 2.2 Hydraulics The word hydraulics is based on the Greek word for water, and originally covered the study of the physical behaviour of water at rest and in motion. Use has broadened its meaning to include the behaviour of all liquids, although it is primarily concerned with the motion of liquids. Hydraulics includes the manner in which liquids act in tanks and pipes, deals with their properties, and explores ways to take advantage of these properties. 2.3 Pneumatics The word pneumatics is a derivative of the Greek word pneumatic, which means air, wind, or breath. It can be defined as that branch of engineering science that pertains to gaseous pressure and flow. As used in this manual, pneumatics is the portion of fluid power in which compressed air, or other gas, is used to transmit and control power to actuating mechanisms. This chapter discusses the origin of pneumatics. It discusses the characteristics of gases and compares them with those of liquids. It also explains factors which affect the properties of gases, identifies and explains the gas laws, and identifies gases commonly used in pneumatics and their pressure ranges. It also discusses hazards of pneumatic gases, methods of controlling contamination, and safety precautions associated with compressed gases

3. Future Enhancements and Scope

The system that we have built is a working prototype of a robot, which should be compact, fast and accurate. This prototype may not have the features and reliability of the original design. It is only being developed to ensure that the design is feasible, not impractical and can be implemented on a much larger scale in a more efficient way. It can be used to design such a robot, which can be small in size, fast and accurate in its movements. The gripper as compared to the ones, made by professional companies is not very efficient. But it can still perform some level of object manipulation. Hence the future enhancements may include a much smaller, faster, more reliable machine. It may have the ability to handle a much wider range of objects and the ability to maneuver them to much safer places. Some of these enhancements are described below.

3.1 Compact Design

A compact design results in a much faster motion and thus increases the accuracy and efficiency. Therefore the robot can be enhanced to be of much smaller size for the purpose of a faster and accurate operation. Compact design is also required where the situation demands the robot to reach for small places. For example, in the aftermath of an earth quake, the robot has to search for people trapped under the rubble. It has to enter holes where humans cannot enter. Hence a compact robot will easily do the job.

3.2 Quick Movement

Being a industrial robot, it requires very fast movement. This is required as the industries have very little time for manufacturing of products. Therefore a fast robot is necessary to be successfully used to improve production rate.

3.3 Accuracy
The degree to which actual position corresponds to desired or commanded position; the degree of freedom from error. Accuracy involves the capability to hit a mark, or reach the point in space, or Get the correct answer; repeatability is the ability to duplicate an action or a result every time. Accuracy of a robot is determined by three elements of the system: the resolution of the control system, the inaccuracies or imprecision of the mechanical linkages and gears and beam deflections under different load conditions, and the minimum error that must be tolerated to operate the arm under closed servoloop operation. Accuracy refers to the degree of closeness to a "correct" value; precision refers to the degree of preciseness of a measurement. Accuracy is frequently confused with precision.

3.4 Active Accommodation

Integration of sensors, control, and robot motion to achieve alteration of a robot's preprogrammed motions in response to sensed forces. Used to stop a robot when forces reach set levels, or to perform force feedback tasks like insertions, door opening and edge tracing.

Refrences
1. http://en.wikipedia.org/wiki/Hydraulic_cylinder 2. http://enginemechanics.tpub.com/14105/ 3. http://www.howstuffworks.com/transport/engines-equipment/hydraulic.htm 4. A text book of Fluid Mechanics by R.K. Bansal