AIJREAS VOLUME 2, ISSUE 11 (2017, NOV) (ISSN-2455-6300) ONLINE

ANVESHANA’S INTERNATIONAL JOURNAL OF RESEARCH IN ENGINEERING AND APPLIED SCIENCES

DESIGN AND ANALYSIS OF AN ARTICULATED ROBOT ARM

K. SWATHI Mr. THIPPESWAMY YASHAVANTH

M. Tech Student, Dept of Mechanical- KUMAR
CAD/CAM, Brilliant grammar school Associate Professor, Dept of Mechanical-
educational institutions group of CAD/CAM, Brilliant grammar school
institutions integrated campus, T.S, India educational institutions group of
institutions integrated campus, T.S, India

ABSTRACT: all these results here we are going to conclude which

Nowadays Robots play a vital role in all the activities material has less weight and which material has
in human life including industrial needs. In modern fewer amounts of stress values. From all these results
industrial manufacturing process consists of precise we can get an idea which robot with which material
and fastest proceedings. Human operations are we should use for different conditions like less weight
needed to perform a variety of tasks in a robotic or less stress producing robots.
system such as set-up, programming, trouble Keywords: Articulated robot, CREO, ANSYS,
shooting, maintenance and error handling activities. Manipulation, Novel joint, obstacles, robotic work
Hazardous conditions exist when human operators zones.
intervene into the robotic work zones. Human
perception, decision making, and action strategies 1.0 INTRODUCTION
need to be studied to prevent robot-related accidents.
System designers and technology managers are
The application of robotics field is broadly
required to consider the limitations of operator used in the field of research, laboratory
perceptual process in design and layout of robotic based work, industrial work to automate
system. The ultimate object is to save human lives in process and reduce the human errors. This
addition to increasing productivity and quality of project is describing the design of
high technology work environments. Effective safety
training programs for work with industrial robots
mechanical structure of a robotic arm. This
should be developed. The objective of this project is robotic arm is often indicated to move an
to design, analysis of a Generic articulated robot object from one place to another place. One
Arm. Articulated robot has been noted for kind of example of this application is in an
application in traversing and performing industrial area where need to move a
manipulation in nuclear reactor facilities. Some
aspects of the articulated Robot that are anticipated
weighable object like tank or container or
as useful are its small cross section and its projected other object. The advantage of automated
ability to change elevation and maneuver over process results is faster completion time
obstacle. The small cross section and the loads with lowest errors. This project also
associated with suspension of the Robot while describes the implementation of a robotic
changing elevation or maneuvering over obstacles
require large joint torque to weight rations for joint
arm with switching controlled. The
actuation. A novel joint actions actuation scheme is application of the force controlled function
described and its implementation detailed in this can be seen in the industrial/manufacturing
project. environments.
In this project by using CAD-tool (creo-2) we created
2 different robots. One is circular arm robot and In the field of robotics the beginner
another is square shape arm robot models and can contribute many functional operations in
analysed with real time boundary conditions with 3
different materials (steel, al-356, ARAMID epoxy) the world. This arm can solve many
and calculated results of deformation and stress, and human’s limitations. Many people cannot
shear stress and strain values for both models. From move from one place to another place for
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their limitation but they have needed to • Scara

move for collect something like mug, jog,
and so on. For that they require getting help • Cartesian
from other persons. When they use this type
of robot they can solve their problem easily
without help other person for its easy
operation system. For an example when a
person has needed to carry an object from
drawing room to bed room he can use this
robot. It can move surround also collect
photo and other information. When
earthquake will be occurred by using these
types of robot people can unseat many
weight full objects from destroyed area to a
safety place.
Researchers developing robots often work
with articulated robots when they want to Figure 1: robot parts
engage in activities like teaching robots to
walk and developing robotic arms. The The ODIS robot is designed for under-
joints in the robot can be programmed to vehicle inspection and has been successfully
interact with each other in addition to employed by troops at checkpoints in Iraq
activating independently, allowing the robot and Afghanistan. The robotic arm and
to have an even higher degree of control.
Many next generation robots are articulated controller described in this paper is built to
because this allows for a high level of mount on ODIS. A video camera is mounted
functionality. At present, the main interest is on the end of the arm to facilitate vehicle
to protect nuclear workers in highly inspection, but the concepts presented in this
contaminated areas or hostile environments, paper are equally applicable to a claw or
robots can be used in nuclear power plants other end-effectors. The arm has three
to reduce human exposure not only to
degrees of freedom which allow the linkages
radiation, but also to hot, humid and
oxygen-deficient atmosphere researchers in to move in a vertical plane. The standard
the field of robotics are proposing a great ODIS model camera on a tilt-mount is
variety of robots configurations and removed when this robotic arm with camera
functional capabilities to be used in nuclear is installed. Out-of-plane motion of the
power plants. Wheeled robots and tracked camera or end effector is achieved by ODIS
vehicles are the common configurations for pivoting in place thereby eliminating the
mobile robots.
need for a hip joint in the robotic arm. The
CLASSIFICATIONS OF ROBOTS: robotic arm has its own controls and power
for easy transfer to platforms other than
• Cylindrical
ODIS. the design of the robotic arm. The
• Polar arm has three revolute joints with horizontal
axes parallel to each other a shoulder joint,
• Articulated
an elbow joint, and a wrist joint. The

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shoulder joint is actuated by two quadrupeds is to aim for very fast, rapidly
servomotors in parallel mechanically. The accelerated, able to make tight turns robots
two shoulder joint motors and the elbow with flexible spine, articulated legs, possibly
including head and tail, such as the Boston
joint motor are ”quarter-scale” servomotors,
Dynamics’ Cheetah concept. Lygorouas et
so called because of the intended use in al. [11] developed a computer-controlled
quarter-scale aircraft hobby models. lightweight mechanical arm. This
mechanical arm was a selfcontained,
2.0 LITERATURE REVIEW autonomous system capable of executing
high-level commands from a supervisory
Early research efforts in legged locomotion
computer. The actuators of the joints were
focused on statically stable gaits in which
permanent magnet type dc motors driven by
robot’s centre of gravity is always kept over
servoamplifiers via Pulse Width
the polygon formed by the supporting feet
Modulation. Aung [12] designed and
[1]. Raibert, around 1985, set the stage with
implemented a controller circuit based on
his ground-breaking work on dynamic
PIC microcontroller and H bridge circuit to
legged locomotion [2], which resulted in one
control the motion of a Wheeled Mobile
of the most advanced quadrupeds, Boston
Robot (WMR). He used MATLAB software
Dynamics’ BigDog that can control its
for the modeling of the total system. Silva
forward speed, and although it moves with
[13] applied fuzzy logic at several
static stable gaits, it can achieve a
hierarchical levels of a typical robotic
dynamically balanced trot gait when moving
control system. For controlling robotic
at human walking speeds [3]. Boston
manipulators, Moosavian [14] used
Dynamics’ statically stable LittleDog, is a
transpose jacobian (TJ) control. Arciniegas
quadruped walking robot with 12 degrees of
et al. [15] developed neural network based
freedom, used as an algorithm test bed. A
adaptive control system to control the
different design and control approach is
flexible robotic arm. Tseng [16] developed a
followed in Scout II [4] and in the NTUA
DSP based instantaneous torque controller
Quadruped Robot [5, 6], which use only one
to control the manipulator. Rogers [17]
actuator and a spring per leg to realise
designed a microcontroller circuit for
dynamically stable running with speed
interfacing joint sensor to control robotic
control. While the Scout requires a time-
arm. A simple structured linked model of the
consuming trial-and-error controller
articulated limb was developed where the
parameter determination to achieve a given
model is manipulated in simulation to ‘pull’
speed, the NTUA quadruped control
the end of the limb towards the desired
algorithm does not need empirical gain
destination position and orientation [18].
tuning. Quadruped robots like Kotetsu [7]
Hisham [19] developed a PIC 16F877
that employ Central Pattern Generator
microcontroller based system where an
(CPG) based controllers and KOLT [8] that
articulated robot arm having six degrees of
uses a fuzzy controller are different
freedom was controlled [19]. In this present
approaches towards achieving dynamic
work, an ATmega32L microcontroller based
stable gaits. Recent research efforts by the
controller circuit has been designed to
Autonomous System Lab at ETH [9] and the
control the three degrees of freedom of an
Advanced Robotics Department at IIT [10]
articulated robot arm.
are aiming at making a step forward from
LittleDog and BigDog respectively.
Generally, the tendency for the new robotic
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AIM OF THE PROJECT Volume, V= π/4 (do 2-0.5625 do2 ) x 4

1) The main goal of the project is to design V=1.37 do2 m3 ---------- Eqn. 1
and analysis of an articulated robot arm for Mass of the shaft,
inspection purpose. m Mass = volume x density = 1.37 do2 x
2) To design the robotic arm using analytical 1.1x 103 [Considering, density of nylon =
calculation 1.1x103 kg/m3]
3) To achieve computer aided modeling of Mass, m=1507 do2 ----------- Eqn. 2
this robot arm using solid works software. Force Acting On the Shaft, F
4) To perform the Finite Element Analysis
Force, f =mass x acceleration due to gravity
of the designed robot arm for the selected
=1507 do2 x 9.81
dynamic condition using the ANSYS
F = 14783.67 do2 ----------- Eqn. 3
software.
Power of the motor, P
3.0 DESIGN
P = (length of the shaft from the motor x
Computer aided design (cad) is defined as any speed of the motor x load acting) 60
activity that involves the effective use of the P = 4x 10x14783.67 do2/60
computer to create, modify, analyze, or P = 9855.78 do2 KW ---------- Eqn. 4
document an engineering design. CAD is most
commonly associated with the use of an 1. Motor
interactive computer graphics system, referred 2. Camera
to as cad system. The term CAD/CAM system 3. Knuckle Joint
is also used if it supports manufacturing as well 4. Weight of the shaft
as design applications.
DESIGN OF ARTICULATED
INSPECTION ARM (AIA)
The design calculations are done using basic
formulae from strength of materials. The
lengths of the AIAs are calculated considering
the distance of the control panels from the core,
diameter of the core to be inspected and height
of the core. This length is considered invariant
with respect to the robot designed. The two
variants of cross sections considered are hollow
square and hollow circular. Since the electrical
and control system wiring to the various motors
in the robotic assembly are required to pass
through the hollow portion of the arm the inner
and hence the outer dimensions are first
considered.
Figure 3.1 shows explode view of robot
Calculations: arm
Volume of the shaft, V
V =π/4(do2 - di2) x Length Considering,
k= di /do = 0.75
di = 0.75 do

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Figure 3.2 Square arm robot

Figure 3.5 final design of robot arm

4.0 ANALYSIS

In general, there are three phases in any

computer-aided engineering task:

 Pre-processing – defining the finite

element model and environmental factors to
be applied to it

 Analysis solver – solution of finite

element model
Figure 3.3 Individual parts in assembly
window  Post-processing of results using
visualization tools
The ANSYS program allows engineers to
construct computer models or transfer CAD
models of structures, products, components,
or systems, apply loads or other design
performance conditions and study physical
responses such as stress levels, temperature
distribution or the impact of lector magnetic
fields.
In some environments, prototype testing is
undesirable or impossible. The ANSYS
program has been used in several cases of
Figure 3.4 Circular arm robot this type including biomechanical
assembly applications such as high replacement
intraocular lenses.

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ANSYS design optimization enables the

engineers to reduce the number of costly
prototypes, tailor rigidity and flexibility to
meet objectives and find the proper
balancing geometric modifications.
Competitive companies look for ways to
produce the highest quality product at the
lowest cost. ANSYS (FEA) can help
significantly by reducing the design and
manufacturing costs and by giving engineers
added confidence in the products they Figure 4.3 equivalent stresses of robotic
design. FEA is most effective when used at arm with steel
the conceptual design stage. It is also useful
when used later in manufacturing process to
verify the final design before prototyping.

Figure 4.4 equivalent strain of the robotic

arm with steel
Figure 4.1 static structural assign
material properties with steel 5.0 RESULTS AND DISCUSSION
The maximum displacements of the circular
and rectangular sections are 26.638mm and
26.03mm during the first load step i.e.,
while considering the position of the base
arm is at 30 degrees. Considering the
4000mm length of the arm, the deflection is
0.66% in case of circular and 0.65% in case
of rectangular section arm. It cumulates to a
maximum of 159.83mm in circular and
156.18mm in rectangular section arm. But
this is only an elevated estimate since the
bending moment and force acting on the arm
will also decrease linearly (5-n) with the nth
Figure 4.2 deformation of robotic arm position of the five arms from the base arm.
with steel This deflection is negligible and can be
controlled while programming the controller

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for precision. Hence both the models are boundary conditions with 3 different materials
eligible for further studies. (steel, al-356, ARAMID epoxy) and calculated
results of deformation and stress, and shear
Table Circular arm robot stress and strain values for both models.
Parameters STEEL AL-356 ARA The completed project will consist of
MID a robot arm. While analyzing models with
EPOX different materials we got different weights and
Y different stress and different strain values.
Deformation 0.09940 0.12171 1.4472 From all these results we can say, if we
(mm) 2 compare both robots by materials we can say
that steel square arm robot will reduce overall
Stress(Mpa) 117.63 51.715 170.67 stress by 16% compare with circular arm robot
with steel material. But in al-356 material we
Strain 0.00060 0.00072 0.0109 reducing only 2% of stress compare with
079 088 39 circular arm. And in ARAMID epoxy produces
much more stress compare with other 2
Shear 61.987 27.234 86.4 materials. And we know that composite
stress(Mpa) materials generally high strength materials and
also expensive. By comparing both circular and
square arm robots here we observe that square
shape arms have more weight compare to
180 circular arm robots.
160
140 FUTURE SCOPE:
120
The scope of the project includes the designing
100
and building of the hardware and software for a
80
STEEL comparable robot arm. This Robotic arm is
60
very useful for the society and also in industrial
40 AL-356
application and it works successfully at the
20
ARAMID EPOXY time of demonstration. A humanoid robotics is
0
a new challenging field. To co-operate with
human beings, humanoid robots not only have
to feature human like form and structure, but
more importantly, they must prepared human
like behavior regarding the motion,
communication and intelligence.

Graph 5.1 parameters variation for REFERENCES

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[3] Leoncio Briones, Paul Bustmante, Miguel A.Serna, A

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