Kinematic link vehicle

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Kinematic link vehicle

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CONTENTS
--------------------------------------------------------------------------------CONTENTS

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SYNOPSIS
KYNAMATIC LINK VEHICLE
SYNOPSIS
Mechanical Engineering without production and manufacturing is
meaningless and inseparable. Production and manufacturing process deals with
conversion of raw materials inputs to finished products as per required dimensions,
specification and efficiently using recent technology. The new developments and
requirements inspired us to think of new improvements in air conditioning Engine
ering field. Nowadays air cooler is available in market.
In our project, The power is used to run the air blower when ever we
required.

ABSTRACT

A project is an endeavor to carry out some specific purpose. As we know wheel

driven vehicle can move on plane surface and belt driven vehicle can move on the
critical surface. but this vehicle cannot be move on to uneven surface ,pond, or on
in the river they cannot be functional, they. But this is a vehicle which can move on
any rough surface as well as on to uneven surface. This vehicle is moves on to
surface by means of high pressure power gap. A high torque e in to the bottom
surface which bears as an lifting serve as a friction less bearing.
The movement is controlled by the motor direction propeller which controls
direction And reverse forward motion through the motor speed. To control the
operation an wire control system is used.

INTRODUCTION
2.1.1 Power
Many robots are battery powered. Well tackle power considerations later but
should mention it here. To save power, the following features must be enrolled:
Lower-voltage electronics
Low-power operation

Support in the operating software for low-power states

Lower-frequency operation

Petrol powered engine

2.1.2 Battery:
Commonly batteries are available in 6 and 12 and 24 volts rating. Other than the
voltage rating, the Ampere-Hour (AH) rating is used to define the power
availability or capacity of the battery.
The backup time provided by a battery connected to inverter depends on the
DC bus voltage of the inverter. This depends on their design. It could be 24V, 48V,
72V, 120V so on. Normally more than one 6volt or 12volts battery is used in series
for higher voltage requirement. For example, if 48V battery is required with an
inverter, then four 12V batteries can be connected in series to provide 48V supply.
Motors
Each joint in a stationary robot needs a motor to make it move back and forwards.
Another name for a motor is an actuator. These motors can be powered by
electricity, compressed air (pneumatics), or pressurized liquid. In mobile robots,
motors are linked to each wheel, track or leg. By controlling the direction of
rotation of a wheel, the robot can be turned and steered in a chosen direction. We
are using DC motor as actuation for the vehicle. These are DC geared motor so that
more torque can be delivered by the motor.

BLOCK DIAGRAM

legs

SWITC
H

Motor

Motor
POWER

SWITC
H

WORKING PRINCIPLE
Motor power is used to run the blade and legs . Block diagram, The

motor

is coupled with impeller legs. The motor runs during the air ON, the impeller rod
starts rotating. The chain drive is used to circulate the unit.
The forced power is flow through the chain which is moved by legs assembly,
so that the weight lift is produced.

ADVANTAGES
Simple in construction
This system is noise in operation
It is portable, so it can be transferred easily from one place to other place
Maintenance cost is low

DISADVANTAGES
It does not take turn
Initial cost is high

APPLICATION

The kynamatic link vehicle is used in

Home
Industries
Agricultural sparing
By adding control circuit, we can maintain the kynamatic link
vehicle for military use

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Chapter-1

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INTRODUCTION
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CHAPTER-1
INTRODUCTION

AIR ENERGY

INTRODUCTION:

Abstract
A short tutorial on Homogeneous Transforms is presented covering the triple
interpretation of a homogeneous transform as an operator, a coordinate frame,
and a coordinate transform. The operator / transform duality is derived and its
use in the Denavit Hartenberg convention is explained. Forward, inverse, and
differential kinematics are derived for a simple manipulator to illustrate concepts.
A standard set of coordinate frames is proposed for wheeled mobile robots. It is
shown that the RPY transform serves the same purpose as the DH matrix in this
case. It serves to interface with vehicle position estimation systems of all kinds,
to control and model pan/tilt mechanisms and stabilized platforms, and to model

the rigid transforms from place to place on the vehicle. Forward and inverse
kinematics and the Euler angle rate to the angular velocity transform are derived
for the RPY transform.
Projective kinematics for ideal video cameras and laser rangefinders, and the
imaging Jacobian relating world space and image space is derived. Finally, the
kinematics of the Ackerman steer vehicle is presented for reference purposes.
This report is both a tutorial and a reference for the transforms used in the
RANGER vehicle controller. It is both because the models keep evolving and it
was necessary to provide the tools, mechanisms, and discipline required to continue

the evolution.

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Chapter-2
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CONSTRUCTION AND
WORKING
------------------------------------------------------------------------------------CHAPTER-2
CONSTRUCTION AND WORKING

2.1

PRINCIPLE OF WORKING:

The motor is made to rotate by using a battery . The supply of the current is
been given from the 12 V battery provided.

The panel board is fixed by providing the M.S. flots. The rotating motor can
be adjusted to any motion of angle by a tilting mechanism. The leg is made to rotate
by providing a bearing. Battery for the storage provision. The stored energy from

battery is supplied to the motor for operating the vehicle. The discharge of the
electrical energy from the battery will be equal to the charging of the battery.
The whight transfer and shift is originated by the kinematic link shift and the shape
of the crank mechanism . the assembly is equipped by the pick and place robot to
operate any additional functionality. The separated motor are attached to the arm to
execute the different movement by controlling motor control swich board.the
battery and the unit is connted by the cables. The weight of vehicle body and battery
is lifted by the equal motor. The all mtotro is dc type geared so high torque is
obtained.

2. 4. 4. DC motor :

PRINCIPLE OF OPERATION:

The basic principle of motor

action lies in a simple sketch. The working

principle tells that, when a current carrying conductor is placed in a magnetic field,
a force is produced to move the conductor away from the magnetic field.

Movement of
Conductor

Magnetic flux

Current carrying
Conductor

The force given by the equation,

Where,
B = Flux density in WB/sq.m
I = Current through the conductor
L = Length of the conductor

B I L Newtons

Let us consider a single turn coil. The coil side A will be forced to move
downward, where as the coil side B will be forced to move upward. Due to this
movement now the coil is made to rotate. Since the coil is arranged into rotate.
Since the coil is arranged in the armature when it rotates in emf is induced in the
coil and that emf which is induced in the coil is in opposite to supply emf. Therefore
we can call the emf induced as back emf (B-emf). Hence when motor

runs

normally the supply emf (V) is equal to B-emf.

Therefore V = Vb + Va (or) V = Vb + Ia Ra (Since V= IR)
Multiplying both sides by Ia,
Therefore Via = Vb Ia + (Ia x Ia) Ra
Where Via is the electrical equivalent of the mechanical power developed in
the motor and (Ia x Ia) Ra is armature drop.
This process that motor converts electrical energy mechanical energy where
(Ia x Ia) Ra is the copper loss which is to be neglected.

2. 4. 5. BATTERY:
LEAD ACID BATTERY:
The positive and negative electrodes of a lead acid battery are immersed in
dilute sulphuric acid. When the battery is fully charged, there is lead peroxide an
the positive plate and spongy lead on the negative plate as the active materials.
During the process of discharge, the chemical reactions from lead sulphate on both
the plates thereby, liberating water. The specific gravity of the electrolyte is lowered

during charging, there is reversal of the chemical reaction and the specific gravity of
the electrolyte rises. The specific gravity is a good indication of the state of charge
of a battery.

The chemical reactions that take place during charging and

discharging are as follows.

Charged

Positive

Discharged

Electrolyte

Plate
Pbo

2H SO

(Lead

(Sulphuric

Peroxide)

acid)

Negative

Positive

Plate

Plate

pb

==== pbso

(Spongy
lead)

Electrolyte Negative
Plate
+

(Lead

2H O
(Water)

sulphate)

+ pbso
(Lead
sulphate)

From the above equation, it is evident that the discharge is carried to the last
point. However, in practice, the battery is never charged beyond a certain point
because of two reasons. First, lead sulphate occupies a greater volume that lead
peroxide and hence excessive sulphation is liable to setup mechanical stresses in the
positive plates, thereby causing shedding of active material and tracking of the
plates.

Secondly, the excessive sulphation does not permit the sulphate to get

reconverted fully back to the active material during charging

CHEMICAL ACTION:

Sulfuric acid is a combination of hydrogen and sulfate ions. When the cell
discharges, lead peroxide from the positive electrode combines with hydrogen ions
to form water and with sulfate ions to form lead sulfate.

Combining lead on the negative plate with sulfate ions also produces he
sulfate. There fore, the net result of discharge is to produce more water, which
dilutes the electrolyte, and to form lead sulfate on the plates.
As the discharge continues, the sulfate fills the pores of the grids, retarding
circulation of acid in the active material. Lead sulfate is the powder often seen on
the outside terminals of old batteries. When the combination of weak electrolyte
and sulfating on the plate lowers the output of the battery, charging is necessary.
On charge, the external D.C. source reverses the current in the battery. The
reversed direction of ions flows in the electrolyte result in a reversal of the chemical
reactions. Now the lead sulfates on the positive plate reactive with the water and
sulfate ions to produce lead peroxide and sulfuric acid. This action re-forms the
positive plates and makes the electrolyte stronger by adding sulfuric acid. At the
same time, charging enables the lead sulfate on the negative plate to react with
hydrogen ions; this also forms sulfuric acid while reforming lead on the negative
plate to react with hydrogen ions; this also forms currents can restore the cell to full
output, with lead peroxide on the positive plates, spongy lead on the negative plate,
and the required concentration of sulfuric acid in the electrolyte.

The chemical equation for the lead-acid cell is

Charge
Pb + pbO + 2HSO

2pbSO + 2HO
Discharge

On discharge, the pb and pbo combine with the SO ions at the left side of
the equation to form lead sulfate (pbSO) and water (HO) at the right side of the
equation.

One battery consists of 6 cells, each have an output voltage of 2.1V, which are
connected in series to get a voltage of 12V and the same 12V battery is connected in
series, to get a 24 V battery. They are placed in the water proof iron casing box.

CARING FOR LEAD-ACID BATTERIES:

Always use extreme caution when handling batteries and electrolyte. Wear
gloves, goggles and old clothes. Battery acid will burn skin and eyes and destroy
cotton and wool clothing.

The quickest way of ruin lead-acid batteries is to discharge them deeply and
leave them stand dead for an extended period of time. When they discharge,
there is a chemical change in the positive plates of the battery. They change from
lead oxide when charge out lead sulfate when discharged. If they remain in the lead
Sulfate State for a few days, some part of the plate dose not returns to lead oxide
when the battery is recharged. If the battery remains discharge longer, a greater
amount of the positive plate will remain lead sulfate. The parts of the plates that
become sulfate no longer store energy. Batteries that are deeply discharged, and
then charged partially on a regular basis can fail in less then one year.

Check your batteries on a regular basis to be sure they are getting charged.
Use a hydrometer to check the specific gravity of your lead acid batteries.

If

batteries are cycled very deeply and then recharged quickly, the specific gravity
reading will be lower than it should because the electrolyte at the top of the battery
may not have mixed with the charged electrolyte. Check the electrolyte level in
the wet-cell batteries at the least four times a year and top each cell of with distilled

water. Do not add water to discharged batteries. Electrolyte is absorbed when

batteries are very discharged. If you add water at this time, and then recharge the
battery, electrolyte will overflow and make a mess.

Keep the top of your batteries clean and check that cables are tight. Do not
tighten or remove cables while charging or discharging. Any spark around batteries
can cause a hydrogen explosion inside, and ruin one of the cells, and you.

On charge, with reverse current through the electrolyte, the chemical action is
reversed. Then the pb ions from the lead sulfate on the right side of the equation reform the lead and lead peroxide electrodes. Also the SO ions combine with H ions
from the water to produce more sulfuric acid at the left side of the equation.

CURRENT RATINGS:

Lead-acid batteries are generally rated in terms of how much discharge

currents they can supply for a specified period of time; the output voltage must be
maintained above a minimum level, which is 1.5 to 1.8V per cell. A common rating
is ampere-hours (A.h.) based on a specific discharge time, which is often 8h. Typical
values for automobile batteries are 100 to 300 A.h.

As an example, a 200 A.h battery can supply a load current of 200/8 or 25A,
used on 8h discharge. The battery can supply less current for a longer time or more
current for a shorter time.

Automobile batteries may be rated for cold cranking power, which is

related to the job of starting the motor . A typical rating is 450A for 30s at a
temperature of 0 degree F.

Note that the ampere-hour unit specifies coulombs of charge. For instance,
200 A.h. corresponds to 200A*3600s (1h=3600s).

the equals 720,000 A.S, or

coulombs. One ampere-second is equal to one coulomb. Then the charge equals
720,000 or 7.2*10^5C.

To put this much charge back into the battery would

require 20 hours with a charging current of 10A.

The ratings for lead-acid batteries are given for a temperature range of 77 to
80F. Higher temperature increase the chemical reaction, but operation above 110F
shortens the battery life.

Low temperatures reduce the current capacity and voltage output.

The

ampere-hour capacity is reduced approximately 0.75% for each decreases of 1 F

below normal temperature rating. At 0F the available output is only 60 % of the

ampere-hour battery rating. In cold weather, therefore, it is very important to have
an automobile battery unto full charge. In addition, the electrolyte freezes more
easily when diluted by water in the discharged condition.

SPECIFIC GRAVITY:

Measuring the specific gravity of the electrolyte generally checks the state of
discharge for a lead-acid cell. Specific gravity is a ratio comparing the weight of a
substance with the weight of a substance with the weight of water. For instance,
concentrated sulfuric acid is 1.835 times as heavy as water for the same volume.
Therefore, its specific gravity equals 1.835. The specific gravity of water is 1, since it
is the reference.

In a fully charged automotive cell, mixture of sulfuric acid and water results
in a specific gravity of 1.280 at room temperatures of 70 to 80F. as the cell
discharges, more water is formed, lowering the specific gravity. When it is down to
about 1.150, the cell is completely discharged.

Specific-gravity readings are taken with a battery hydrometer, such as one in

figure (7). Note that the calibrated float with the specific gravity marks will rest
higher in an electrolyte of higher specific gravity. The decimal point is often omitted

for convenience. For example, the value of 1.220 in figure (7) is simply read twelve
twenty. A hydrometer reading of 1260 to 1280 indicates full charge, approximately
12.50 are half charge, and 1150 to 1200 indicates complete discharge.

The importance of the specific gravity can be seen from the fact that the
open-circuit voltage of the lead-acid cell is approximately equal to

Specific gravity + 0.84

For the specific gravity of 1.280, the voltage is 1.280 = 0.84 = 2.12V, as an
example. These values are for a fully charged battery.

CHARGING THE LEAD-ACID BATERY:

The requirements are illustrated in figure. An external D.C. voltage source is

necessary to produce current in one direction. Also, the charging voltage must be
more than the battery e.m.f. Approximately 2.5 per cell are enough to over the cell
e.m.f. so that the charging voltage can produce current opposite to the direction of
discharge current.

Note that the reversal of current is obtained just by connecting the battery
VB and charging source VG with + to + and to-, as shown in figure. The charging
current is reversed because the battery effectively becomes a load resistance for VG
when it higher than VB. In this example, the net voltage available to produce
charging currents is 15-12=3V.

A commercial charger for automobile batteries is essentially a D.C. power

supply, rectifying input from the AC power line to provide D.C. output for charging
batteries.

Float charging refers to a method in which the charger and the battery are
always connected to each other for supplying current to the load. In figure the
charger provides current for the load and the current necessary to keep the battery
fully charged. The battery here is an auxiliary source for D.C. power.

It may be of interest to note that an automobile battery is in a floating-charge

circuit. The battery charger is an AC generator or alternator with rectifier diodes,
driver by a belt from the motor . When you start the car, the battery supplies the
cranking power. Once the motor is running, the alternator charges he battery. It is
not necessary for the car to be moving. A voltage regulator is used in this system to
maintain the output at approximately 13 to 15 V.

The constant voltage of 24V comes from the water air panel controlled by the
charge controller so for storing this energy we need a 24V battery so two 12V
battery are connected in series.
It is a good idea to do an equalizing charge when some cells show a variation
of 0.05 specific gravity from each other. This is a long steady overcharge, bringing
the battery to a gassing or bubbling state. Do not equalize sealed or gel type
batteries.

With proper care, lead-acid batteries will have a long service life and work
very well in almost any power system. Unfortunately, with poor treatment lead-acid
battery life will be very short.

BATTERY VOLTAGE:

A 6V battery consists of 3 cells of 2V each. A 12V battery consists of 6 cells of

2V each. The cells are all similar in internal construction and operation.

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Chapter-3
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DESIGN
--------------------------------------------------------------------------------CHAPTER-3
DESIGN

Selection of motor for kinematic link vehicle

This value is assumed that ,Total mass=15 kg (app.)

Assume that is neglected due to motion of plates
w = m*g
w = 15*9.81
w = 147.15N
w = Rn
F = *Rn
F = *w
F = 147.15 N
T = F*r
Since, r = radius of drive sprocket
R=2.5cm,
T= 147.15 *2.5
= 367.875 N-cm
T = 3.67 N-m
T = 37.5 Kg-cm
As we have to walk robot on horizontal surface , we require initially more torue & less
speed. all these requirements can be fulfill by D. C. motor.
As per the graphs, current is directly proportional to torque & inversely proportional to
speed. hence for our kinematic link walking robot we have selected D.C. motor.

Chain sprocket
Name of part Chain sprocket
D=50mm, z =15, Pitch=9.525
Qty 04

Material Mild Steel

Fig 3.8 Chain sprocket

3. 1. DESIGN OF BATTERY CELL:

Power of the cell

1W

Voltage of cell

2.5 V

Therefore, power of cells produced = 12 W

Voltage cells

19.5 Volts

Current produced in these cells

1A.

3. 2. DESIGN OF KYNAMATIC LINK VEHICLE STRUCTURE:

The structure is made up of thin sheet metal .
Structure:
1. M.S. Sheet

20guage

2. Diamensions

1.5 feet x 1.5 feet x 2.5 feet

5. Clamping bolt

M.S.

3. 3. DESIGN OF BATTERY:
Current carrying capacity of 12 V battery

7.5 AH

For batteries the current

12 V / 7.5 AH

The battery discharges at a rate of 0.75.

It will withstand for 10 hours.

3.4.DESIGN OF MOTOR :
Engine RPM

Operating Voltage

12v

Wattage

6W

30 RPM

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COST ESTIMATION
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CHAPTERCOST ESTIMATION

MATERIAL COST

Sl. No.

PARTICULARS

MATERIAL

COST (RS.)

1.

main motor

metal

3900/-

2.

Stand

3.

body

4.

chain

Plastic

2000/-

6.

DC body

Plastic

3500/-

7.

Battery (12 V- 2 Nos.)

8.

Miscellaneous

Sheet metal (20 Gauge)

1500/-

1550/-

Lead Acid Battery

850/1800/-

9. BEARING

2000/-

ALUMIUM LINK WITH LEGS

1800/-

CONTROL SWITHC
PICK AND place arm

PVC

400/aluminum

3000/-

Total

TOTAL COST:

(1) Material Cost

RS.

(2) cutting and bending Cost

(3) Other expenses

=
=

RS. 400.00
__________

Total

RS.
__________

RS. 830.00

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ADVANTAGES AND
APPLICATIONS
------------------------------------------------------------------------------------CHAPTERADVANTAGES AND APPLICATIONS

6. 1. ADVANTAGES:
The advantages of kynamatic link vehicle are

 It is good alternative for electric powered robot .

The alternative for agricultural spaying as it can move on any surface.
Maintenance cost is negligible
The use will be most welcomed when the power resources are over.
It produses noise but working is effective .
It does not create any hazerdious situations.
The construction is simple and not so difficult as other blower.
Simple to use and easy to manufacture.
Long durability and reliability.

6.2

APPLICATION:
The is mainly used for keep in move in the area where surface is un uniform

and it can be used in house or in industry. the size can be changed as depending on
the requirement to move on the area.

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Chapter-7
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CONCLUSION & SUGGESTION

--------------------------------------------------------------------------------CHAPTER-7
CONCLUSION & SUGGESTION

7. 1. CONCLUSION:

kynamatic link vehicle have been designed successfully for the village former
who cannot afford multi monuvring machine for multiplie application of
need,money, electricity and he can make importance of non-conventional energy
resources utilization and but its use is not restricted to farmers any one can use it.

7. 2. SUGGESTION:
Our kynamatic link vehicleoperating cost is almost negligible when compared
to existing method of using a other devices. Though the initial cost of the project is
high, both central and state government assistance in the form of subsidies for the
air aided projects make job easy.

Instead of doing modification on existing body, a separate structure with less

weight and separate motor

may be successfully designed for thee system to have

further more efficient and more economical and reduce the weight further.

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BIBLIOGRAPHY
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BIBLIOGRAPHY

1.

1.

AIR ENERGY

2.

petrol AIR ENERGY

PRINCIPLES OF CONVERSION OF ENERGY

AGGARWAL
-

S.K.BOSE

2.

THE HINDU DATED

27.01.1993.

3.

ASPEE BOLD

SUPPLEMENTRY

4.

AUTOMOTIVE ELECTRICAL EQUIPMENT

- KOHLI

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PHOTOGRAPHY
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Structure:

DESIGN

Selection of motor for kinematic link vehicle

This value is assumed that , Total mass=15 kg (app.)

Assume that is neglected due to motion of plates
w = m*g
w = 15*9.81
w = 147.15N
w = Rn
F = *Rn
F = *w
F = 147.15 N

T = F*r
Since, r = radius of drive sprocket
R=2.5cm,
T= 147.15 *2.5
= 367.875 N-cm
T = 3.67 N-m
T = 37.5 Kg-cm

As we have to walk robot on horizontal surface , we require initially more torue & less
speed. all these requirements can be fulfill by D. C. Geared motor.
As per the graphs, current is directly proportional to torque & inversely proportional to
speed. Hence for our kinematic link walking robot we have selected D.C. motor.

Chain sprocket
Name of part Chain sprocket
D=50mm, z =15, Pitch=9.525
Qty 04
Material Mild Steel

Fig 3.8 Chain sprocket

3. 1. DESIGN OF BATTERY CELL:

Power of the cell

1W

Voltage of cell

2.5 V

Therefore, power of cells produced =

Voltage cells

12 W

19.5 Volts

Current produced in these cells

1A.

3. 2. DESIGN OF KYNAMATIC LINK VEHICLE STRUCTURE:

The structure is made up of thin sheet metal .

Structure:
1. M.S. Sheet

20guage

2. Diamensions

1.5 feet x 1.5 feet x 2.5 feet

5. Clamping bolt

M.S.

3. 3. DESIGN OF BATTERY:
Current carrying capacity of 12 V battery
For batteries the current

The battery discharges at a rate of 0.75.

It will withstand for 10 hours.

7.5 AH

12 V / 7.5 AH

3.4.DESIGN OF MOTOR :
Engine

RPM

30 RPM

Operating Voltage
Wattage

12v

6W

Gear Box: Metal gear

Compoent list and cost

Sl. No.

PARTICULARS

1. main motor
2. Stand
3.

body

MATERIAL

metal

COST (RS.)

12v 2

5200/-

Sheet metal (20 Gauge)

550/-

1500/-

4. chain

steel

6. DC body

2000/-

metal

7. Battery (12 V- 2 Nos.)

3500/Lead Acid Battery

8. Miscellaneous
9.

M.S. Rod

1750/1800/-

10,mm

1650/Total
CHAPTER

INTRODUCTION
Material handling is a specialized activity for a modern manufacturing concern. It has been estimated that about 6070% of the cost production is spent in material handling activities.
Need for pick and place material handling:
Reduction of lab our and material cost
Reduction of overall cost
Increased production
Increased storage capacity
Increased safety

 Reduction in fatigue
Improved personnel comfort

Literature Survey:
A ROBOT is a device which can be Reprogrammable, Multifunctional, and Sensible to Environment. Robots are limited to
rolling or walking about, perhaps noting things that occur around them, but little else. The robot cant, as the slogan goes, reach out
and touch someone, and it certainly cant manipulate its world.
The more sophisticated robots in science, industry, and research and development have at least one robot to grasp, reorient, or
move objects. Robots extend the reach of robots and make them more like humans. For all the extra capabilities arms provide a robot,
its interesting that they arent at all difficult to build. Your arm designs can be used for factory style, stationary pick-and-place
robots, or they can be attached to a mobile robot as an appendage. Incidentally, when we speak of arms, we will usually mean just the
arm mechanism minus the hand (also called the gripper).
Take a close look at your own arms for a moment. Youll quickly notice a number of important points. First, your robots are
amazingly adept mechanisms. They are capable of being maneuvered into just about any position you want. Your arm has two major
joints: the shoulder and the elbow (the wrist, as far as robotics is concerned, is usually considered part of the gripper mechanism).
Your shoulder can move in two planes, both up and down and back and forth. As well as moving your arm up and down and back and
forth, you can rotate your shoulder as well. The elbow joint is capable of moving in one plane; it can be thought of as a simple hinge,
and the bone connected to it can be rotated.

The joints in your robots , and your ability to move them, are called degrees of freedom. Your shoulder provides three degrees
of freedom in itself; shoulder rotation and two-plane shoulder flexion. The elbow joint adds a fourth and fifth degree of freedom:
elbow flexion and elbow rotation.
Robot also have degrees of freedom. But instead of muscles, tendons, ball and socket joints, and bones, robot arms are made
from metal, plastic, wood, motors, solenoids, gears, pulleys, and a variety of other mechanical components. Some robot arms provide
but one degree of freedom; others provide three, four, and even five separate degrees of freedom.

WORKING PRINCIPLE
The experimental setup consist of three motors, all are of geared type. These robot are used where un suitable

human conditions are present where human cant work in that situation that work is carried out by this robot where
by remote control the operation is performed safely with out risking human life so that this robot are designed.
In this robot system, a vehicle is designed to control its forward and reverse direction motion through the remote
stick, this vehicle is incorporated with the moving arm.
The arm is equipped by a motorized jaw to hold a small objects, the jaw is fitted on two arms, the position of this
arm selectable indipendantly.the arm positioning is driven by geared direct current motors. Also the arm is based
on a rotating mechanism with the help of this mechanism the complete jaw is movable to a complete 360 degree it
self. The vehicle is able to run in forward and reverse direction.. Which but using wired remote control.

12V 60 RPM DC geared motor

Introduction

NR-DC-ECO is high quality low cost DC geared motor. It contains Brass gears and steel pinions to ensure longer life and better wear
and tear properties. The gears are fixed on hardened steel spindles polished to a mirror finish. These spindles rotate between bronze
plates which ensures silent running. The output shaft rotates in a sintered bushing. The whole assembly is covered with a plastic ring.
All the bearings are permanently lubricated and therefore require no maintenance. The motor is screwed to the gear box from inside.

Specifications

Total length: 46mm

Motor diameter: 36mm
Motor length: 25mm
DC supply: 4 to 12V
RPM: 100
Brush type: Precious metal
Gear head diameter: 37mm
Gear head length: 21mm
Output shaft: Centered
Shaft diameter: 4mm and 6mm
Shaft length: 22mm
Gear assembly: Spur
Torque: 0.25 to 7Kg/cm

HARDWARE PART
PHYSICAL MODEL
1. We have collected some hardware needed for the project which include
Two geared motors of 6v/50rpm (Why only geared motor? because simple motors have very high rpm which
can cause trouble in rover movement. Thus we decrease the rpm of motor by using two gears, small one
connected to axle of motor and bigger one connected to small one and drives the wheels with reduced rpm of
almost 50rpm motor is of 6V)
Two main rear wheels (diameter 74mm, thickness 13mm/plastic wheels )
One multidirectional wheel(made of steel with a ball in bottom giving free motion to be fitted in front of rover)
One battery of 6v/4.5Ah/1.35A
One solid board for base

Two tin clamps for holding motor on board

Some screws and bolts
Wires

Wheels, motors, front wheel, motor clamps and base board

STEP
(a)motors

(e)Holes drolling in board to fit motor clamps

SPECIFICATIONS OF MOTOR:
Weight of the motor: 1kg (approx)
Operating Voltage: 12V
Operating current: 0.4 A
Operating power required: 12 0.4 = 4.8 W

Motor Speed: 1,600 rpm.

As we knows, power = 2NT/ 60
Where, N = Speed in rpm, T = Torque in N.m = weight radius.
Therefore, T = Power 60 / 21600 = 0.0286 N.m.
And thus, radius = 0.0286/ 19.81 = 2.91 mm. = 3 mm (say).

CHAPTER-7
FABRICATION OF THE UNIT

The fabrication of unit consist of almost all the standard welding processes such as welding, fitting, assembling etc..

The unit necessitates the manufacturing of following parts.

Vertical Movable arm

Horizontal Moving arem

 Vice
Holding Tool
Relay coil
Frame stand

The components manufactured in process involved in manufacturing in detail in the report else. The manufacturing
and assembly of this arrangement is made as rigid as possible.

VERTICAL MOVABLE BED (UPPER ARM):

Upper arm is also called as movable Bed. As the arm can move up and down, it is called as movable arm. The upper
arm is connected to the frame stand. The motor is fixed on this moving bed with suitable bolt and nut arrangement.

HORIZANTAL MOVING BED (LOWER ARM):

Horizontal moving bed also called as Lower arm. As the arm can move linear it is called as movable arm. The lower
arm is connected to the frame stand. The vice is fixed on this moving bed with suitable bolt and nut arrangement.

SUPPORTING JAW:

It is found on the either end of the vice which is fixed on the base plate by the help of bolt and nut. Its supports the
work piece can be moved of max angle fixing the jaw the work piece to be cut is placed to an angle whose edge. Handle is
rotated the self tilting jaw, when approaches the other side of the work piece automatically moves to angle and grips the
work piece.
FRAME STAND

It is made up of mild steel. This is the base of the above all components of the machine.

Auminium pipe

Aluminum square tubing is pretty commonly used in some areas like door or window frames, architectural features and
trims, decks and porches, furniture, exercise equipment, conveyor belts, railings escalators etc. Due to the fact that this
tubing has an angular shape, it becomes easy to install and transport it as it can be stacked together without their rolling
off.

Use of rectangular or square tubing

A lot of set ups that manufacture equipment for automobile, industrial, agricultural and marine sectors, use this kind of
tubing. Apart from the industrial usage, square or rectangular tubing is also used extensively for ornamental and

decorative purposes both outdoors as well as indoors. Apart from aluminum, this kind of rectangular and square tubing is
also made from transparent plastic and acrylic. These are widely used in landscaping of gardens, lighting, dance and
theater events etc.

Aluminum Square TubingAluminum Square Tubing is widely used where anti corrosion, flexibility and light weight are the
properties required in the materials which are being used. As we know aluminum satisfies all these properties quite well.
Square and rectangular tubing made from aluminum and other materials is widely used in the manufacture of computers,
in the military and aerospace industry etc. These are the places where structural strength is of great importance and this
is why square or rectangular tubing is used instead of round tubing. For instance high tensile steel square or rectangular
tubing is used in constructing truck and rail frames, trainer beds, and carriage frames.

Benefits of different materials

Apart from aluminum square tubing or rectangular tubing, you can find rectangular or square tubing made from materials
like stainless steel, galvanized iron, cast iron, galvanized or anodized aluminum, carbon steel, copper, and even alloys like
bronze. These materials can be given a great finish by polishing or coating them with metals like chromium and zinc. They
are also often heat treated when the intended usage is mostly outdoors. This will prevent them from reacting to the

weather, corrosion, rust etc. that normally happens with metal tubing when it is exposed to the elements. It is also
necessary to conform to the industry safety standards. Materials like plastics, acrylic and PVC are used were light weight
materials are required like food and beverage industry, chemical and pharmaceutical industry etc. Plastics PVC and
acrylic do not corrode in the open and this is the reason why they are widely used as outdoor shelving and displays. As
opposed to the metal square or rectangular tubing the one made of plastics, PVC and acrylic does not react to the harsh
chemicals and solvents.

Using square or rectangular tubing

Aluminum square tubing is often joined together to create long lengths of tubing as per requirement. Usually aluminum
welding is used to attach one length of tubing with another. On the other hand various methods like heat sealing, welding,
adhesives or square or rectangular connectors are used to connect tubing made of other materials. Rectangular or square
tubing is easier to cut and if the tubing is not very thick, you can cut it using a hand held saw or power tool even at home.
The square or rectangular shape makes it quite easy to handle, operate and install.

Screw selection
Screw type: Counter sunk screws
(1) Size- M3

(2) Size- M6

d = 3 mm
l = 10 mm
(3) Size- M3
d = 3 mm
l = 6 mm
(5) Size- M5
d = 5 mm
l = 20 mm

d = 6 mm
l = 20 mm
(4) Size- M3
d = 3 mm
l = 6 mm

Fig 3.10 Screws

MANUFACTURING pick and place arm

4.1) PROCESS SHEET
4.2) STANDARD PARTS
4.1.1) Frame
Table 4.1:- Main base
Sr. No.
1

Machine
Hacksaw machine

Operation
Cutting required pieces from plywood

Time(min)
10

Hand grinder

debarring

10

4.1.2) arm
Table 4.2:- Triplate

Sr.

Machine

Operation

Time

No.
1

Hacksaw machine

Cutting required

10

pieces from
2
3
4

Hand grinder
Drilling machine
Portable Grinder

aluminium pipe
debarring
Drilling
Grinding

10
20
5

4.1.3) jaw
Table 4.3:Sr.

Machine

Operation

Time

No.
1

Hacksaw machine

Cutting required

10

pieces from
2
3
4
1

Hand grinder
Drilling machine
Portable Grinder
Hacksaw machine

aluminium pipe
debarring
Drilling
Grinding
Cutting required
pieces from
aluminium pipe

10
20
5
10

4.1.4) fitting AND ASSEMBLY

Table 4.4
Sr.

Machine

Operation

Time

No.
1
2
4

Hacksaw machine
DRILLING MACHINE
SCREW DRIVE

Cutting from saw stock

DRILLING
SCREWING AND

5
10
20

FITTING

Chapter 1: LITERATURE SURVEY

1.1 ROBOTICS
The word Robotics, meaning the study of robots was coined by Isaac Asimov. Robotics involves elements of both
mechanical and electrical engineering, as well as control theory, computing and now artificial intelligence (Selig, 1992).
According to the Robot Institute of America, A robot is a reprogrammable, multifunctional manipulator designed to move
materials, parts, tools or specialized devices through variable programmed motions for the performance of a variety of

tasks(Robotics Research Group, n.d.) The fact that a robot can be reprogrammed is important: it is definitely a
characteristic of robots. In order to perform any useful task the robot must interface with the environment, which may
comprise feeding devices, other robots, and most importantly people.
1.2 ROBOTIC ARM
Robots without arms are limited to rolling or walking about, perhaps noting things that occur around them, but little
else. The robot cant, as the slogan goes, reach out and touch someone, and it certainly cant manipulate its world.
The more sophisticated robots in science, industry, and research and development have at least one arm to grasp,
reorient, or move objects. Arms extend the reach of robots and make them more like humans. For all the extra capabilities
arms provide a robot, its interesting that they arent at all difficult to build. Your arm designs can be used for factory style,
stationary pick-and-place robots, or they can be attached to a mobile robot as an appendage. Incidentally, when we
speak of arms, we will usually mean just the arm mechanism minus the hand (also called the gripper).
1.2.1 The Human Arm
Take a close look at your own arms for a moment. Youll quickly notice a number of important points. First, your
arms are amazingly adept mechanisms. They are capable of being maneuvered into just about any position you want.
Your arm has two major joints: the shoulder and the elbow (the wrist, as far as robotics is concerned, is usually considered
part of the gripper mechanism). Your shoulder can move in two planes, both up and down and back and forth. As well as
moving your arm up and down and back and forth, you can rotate your shoulder as well. The elbow joint is capable of
moving in one plane; it can be thought of as a simple hinge, and the bone connected to it can be rotated.

The joints in your arm, and your ability to move them, are called degrees of freedom. Your shoulder provides three
degrees of freedom in itself; shoulder rotation and two-plane shoulder flexion. The elbow joint adds a fourth and fifth
degree of freedom: elbow flexion and elbow rotation.
Robotic arms also have degrees of freedom. But instead of muscles, tendons, ball and socket joints, and bones,
robot arms are made from metal, plastic, wood, motors, solenoids, gears, pulleys, and a variety of other mechanical
components. Some robot arms provide but one degree of freedom; others provide three, four, and even five separate
degrees of freedom.
1.2.2 Arm Types
Robot arms are classified by the shape of the area that the end of the arm (where the gripper is) can reach. This
accessible area is called the work envelope. For simplicitys sake, the work envelope does not take into consideration
motion by the robots body, just the arm mechanics.
The human arm has a nearly spherical work envelope. We can reach just about anything, as long as it is within
arms length, within the inside of about three-quarters of a sphere. Imagine being inside a hollowed-out orange. You stand
by one edge. When you reach out you can touch the inside walls of about three-quarters of the peel. In a robot, such a
robot arm would be said to have revolute coordinates. The three other main robot arm designs are polar coordinate,
cylindrical coordinate, and Cartesian coordinate. Youll note that there are three degrees of freedom in all four basic types
of arm designs.
1.2.2.1 REVOLUTE COORDINATE
Revolute coordinate arms, such as the one depicted in Fig.1, are modelled after the human arm, so they have
many of the same capabilities. The typical robotic design is somewhat different, however, because of the complexity of the

human shoulder joint. The shoulder joint of the robotic arm is really two different mechanisms. Shoulder rotation is
accomplished by spinning the arm at its base, almost as if the arm were mounted on a record player turntable.

Fig.1.1:- A revolute coordinate arm

Shoulder flexion is accomplished by tilting the upper arm member backward and forward. Elbow flexion works just as it
does in the human arm. It moves the forearm up and down. Revolute coordinate arms are a favourite design choice for
hobby robots. They provide a great deal of flexibility, and they actually look like arms.
1.2.2.2 POLAR COORDINATE
The work envelope of the polar coordinate arm is the shape of a half sphere. Next to the revolute coordinate
design, polar coordinate arms are the most flexible in terms of the ability to grasp a variety of objects scattered about the

robot. Fig. 2 shows a polar coordinate arm and its various degrees of freedom. A turntable rotates the entire arm, just as it
does in a revolute coordinate arm. This function is akin to shoulder rotation. The polar coordinate arm lacks a means for
flexing or bending its shoulder, however. The second degree of freedom is the elbow joint, which moves the forearm up
and down. The third degree of freedom is accomplished by varying the reach of the forearm. An inner forearm extends
or retracts to bring the gripper closer to or farther away from the robot. Without the inner forearm, the arm would only be
able to grasp objects laid out in a finite two-dimensional circle in front of it.

Fig. 1.2:- A polar coordinate arm.

The polar coordinate arm is often used in factory robots and finds its greatest application as a stationary device. It
can, however, be mounted to a mobile robot for increased flexibility.
1.2.2.3 CYLINDRICAL COORDINATE

The cylindrical coordinate arm looks a little like a robotic forklift. Its work envelope resembles a thick cylinder,
hence its name. Shoulder rotation is accomplished by a revolving base, as in revolute and polar coordinate arms. The
forearm is attached to an elevator like lift mechanism, as depicted in Fig. 3. The forearm moves up and down this column
to grasp objects at various heights. To allow the arm to reach objects in three-dimensional space, the forearm is outfitted
with an extension mechanism, similar to the one found in a polar coordinate arm.

Fig. 1.3:- A cylindrical coordinate arm

1.2.2.4 CARTESIAN COORDINATE
The work envelope of a Cartesian coordinate arm (Fig. 4) resembles a box. It is the arm most unlike the human
arm and least resembles the other three arm types. It has no rotating parts. The base consists of a conveyer belt-like
track. The track moves the elevator column (like the one in a cylindrical coordinate arm) back and forth. The forearm
moves up and down the column and has an inner arm that extends the reach closer to or farther away from the robot.

Fig.1.4:- A Cartesian coordinate arm

1.3 Activation Techniques

There are three general ways to move the joints in a robot arm:

Electrical

Hydraulic

Pneumatic

Electrical actuation is done with motors, solenoids, and other electromechanical devices. It is the most common
and easiest to implement. The motors for elbow flexion, as well as the motors for the gripper mechanism, can be placed in
or near the base. Cables, chains, or belts connect the motors to the joints they serve. Electrical activation doesnt always
have to be via an electromechanical device such as a motor or solenoid. Other types of electrically induced activation are

possible using a variety of techniques. One of particular interest to hobby robot builders is shape-memory alloy, or SMA,
as discussed previously.
Hydraulic actuation uses oil-reservoir pressure cylinders, similar to the kind used in earthmoving equipment and
automobile brake systems. The fluid is noncorrosive and inhibits rust: both are the immediate ruin of any hydraulic
system. Though water can be used in a hydraulic system, if the parts are made of metal they will no doubt eventually
suffer from rust, corrosion, or damage by water deposits. For a simple home-brew robot, however, a water-based
hydraulic system using plastic parts is a viable alternative.
Pneumatic actuation is similar to hydraulic, except that pressurized air is used instead of oil or fluid (the air often
has a small amount of oil mixed in it for lubrication purposes). Both hydraulic and pneumatic systems provide greater
power than electrical actuation, but they are more difficult to use. In addition to the actuation cylinders themselves, such
as the one shown in Fig. 26-5, a pump is required to pressurize the air or oil, and values are used to control the retraction
or extension of the cylinders. For the best results, you need a holding tank to stabilize the pressurization. For small robot
arms, the Lego Techniques pneumatic cylinders, controls, and tanks can make the task of actuating an arm quite easy.
An interesting variation on pneumatic actuation is the Air Muscle, an ingenious combination of a small rubber tube
and black plastic mesh. The rubber tube acts as an expandable bladder, and the plastic mesh forces the tube to inflate in
a controllable manner. Air Muscle is available premade in various sizes; it is activated by pumping air into the tube. When
filled with air, the tube expands its width but contracts its length (by 25 percent). The result is that the tube and mesh act
as a kind of mechanical muscle. The Air Muscle is said to be more efficient than the standard pneumatic cylinder, and
according to its makers it has about a 400:1 power-to-weight ratio.
Our project is a Polar Coordinate robotic arm having fixed length and Electrical activation to reduce the overall cost.

Types of Robots and Robotic technique:

The project chosen by us that is spy Robotics stands on our area of interest.
This project combines the feature of both wireless communication and microcontroller. This project comprises of the
outstanding features of being wireless which means freedom from being restricted to an area of particular frequency.
Its another robot with a cutesy name, SPYKE the Wi-Fi Spy Robot. Its due to be sold under the Meccano brand
name which is pretty appropriate as well have to make him your self. Once constructed itll be able to control Spyke from
any Internet enabled PC, It incorporates VOIP and a web-cam so youll be able to send him on dangerous spying
missions and watch the results from the other side of the world. When SPYKE is running low on robot juice itll use its auto
parking system to dock with his recharging system.
The spy robots constructed by us has control system based on 8051 microprocessor. Though DSP chips can be
used for the same but same but due to the extra benefit of microprocessors chips; they are preferred here. The primary
advantage that these processors provide is their speed. They can perform simple operations with blinding speed, and so
complete great amounts of work.DSP chips are basically special-purpose processors designed to serve a particular class
of computational problems. The central feature common to most DSP chips is a MAC, which stands for Multiply and
Accumulate. DSP processors are often used to process continuous streams of information such as audio, video, or data
from an RF receiver. The data stream never stops and must be processed at all times. This is its biggest advantage as
well as the disadvantage too.

Not surprisingly, the best choice for the robot is the microcontroller based control system. Modern microprocessors
that we could use in our robot range between 8- and 64-bit word sizes. The 8-bit computers are generally well suited for

most simple robot calculations and control system loops. Most robot designs have 8-bit processors to save power and
money.
2.1 Robot Design
There are a number of other considerations to take into account when designing a robot. Thus far in our calculations and
mathematics, weve assumed that all control elements behave in a linear fashion. Very roughly defined, this assumes a
smooth, continuous action with no jerky motions. Bringing in a definition from calculus, this linear motion is characterized
by curves with finite derivatives. For the moment sending our robot over the terrain described by each curve and it will be
easy to visualize why we should be considering nonlinear control elements. We must be prepared to deal with such
matters because most robots have some nonlinear elements somewhere within the design.