International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211

Volume 9, Issue 7 July -2021, Impact Factor: 7.429, Available online at: www.ijaresm.com

Project Report on “Design and Manufacturing of Robotic

arm for industrial Application to reduce a Cycle time”.
Ishan Narendra Bhargave1, Ashok Kundlik Pawar2, Anukarsh Anupam Pradhan3,
Ganesh Satish Ghadge4, Prof. Vaibhav Edake5
1,2,3,4,5
Mechanical Engineering Department Affiliated to Savitribai Phule Pune University, India

------------------------------------------------------------****************------------------------------------------------------------

ABSTRACT

In the modern world, robotics has become popular, useful, and has achieved great successes in several fields of
humanity. Robotics has become very useful in medicine, education, military, research and mostly, in the world of
manufacturing. It is a term that has since been used to refer to a machine that performs work to assist people or
work that humans find difficult or undesirable. Robots, which could be destructive or non-destructive, perform
tasks that would have been very tedious for human beings to perform. They are capable of performing repetitive
tasks more quickly, cheaply, and accurately than humans. Robotics involves the integration of many different
disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability
theory. These disciplines when applied suitably, lead to the design of a very successful robot. Features of robotic
arm are:
 A robotic arm may not injure a human being, or through inaction allow a human being to come to harm.
 A robotic arm must obey the orders given it by human beings, except where such orders would conflict
with the first law.
 A robot must protect its own existence as long as such protection does not conflict with the first or
second law (Robotics Introduction. 2001).

INTRODUCTION

In the modern world, robotics has become popular, useful, and has achieved great successes in several fields of humanity.
Robotics has become very useful in medicine, education, military, research and mostly, in the world of manufacturing. It is
a term that has since been used to refer to a machine that performs work to assist people or work that humans find difficult
or undesirable. Robots, which could be destructive or non-destructive, perform tasks that would have been very tedious for
human beings to perform. They are capable of performing repetitive tasks more quickly, cheaply, and accurately than
humans. Robotics involves the integration of many different disciplines, among them kinematics, signal analysis,
information theory, artificial intelligence, and probability theory. These disciplines when applied suitably, lead to the
design of a very successful robot.

History of Robotics:
The advent of robotics started in the year 350 B.C. when a Greek mathematician Archytas of Tarentum built a mechanical
bird, which was called “the pigeon”. This mechanical bird was powered using steam. With further advancements, Leonardo
Da Vinci in the year, 1495 designed a mechanical device that looked like an armored knight. The knight was designed to
move as if there was a real person inside. In 1898, Nikola Tesla designed the first remote controlled robot in Madison
Square Garden. The robot designed was modeled after a boat.

The first industrial robots were Unimates developed by George Devol and Joe Engelberger in the late 50’s and early 60’s.
The first patents were by Devol but Engelberger formed Unimation which was the first market robots. Therefore,
Engelberger has been called the “father of robotics”. For a while, the economic viability of these robots proved disastrous
and thing slowed down for robotics. However, by mid-80’s, the industry recovered and robotics was back on track.

George DevolJr, in 1954 developed the multi-jointed artificial arm, which lead to the modern robots. However, mechanical
engineer Victor Scheinman, developed the truly flexible arm know as the Programmable Universal Manipulation Arm
(PUMA).

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 International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211
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Overview:
Material handling is one of the tedious tasks in industry now a day. In the country like India, many industries prefer
manually operated material handling. This is very time consuming and due to this production rate also decreases. Lathe
machine is common machine tool found in almost all industries and engineering institutes for processing the cylindrical
work piece. The operation like turning, drilling, boring, chamfering, knurling etc. can be performed on it.

Loading and unloading of work piece on lathe machine is done manually, this may lead to less production in time. We can
say that there are two times, referring to machine, one is machine utilization time and second is machine un-utilization time.
In first case, the machine is in running condition and in second case machine is in rest condition. If we consider 8 hours of
shift per day then in that only 6.30 hours machine is in running condition and in rest 1.30 hours it is in rest. The rest time
includes, operator or person working on machine time like going for lunch, toilet, talking with others etc. If we utilize this
time for running machine continuously then there will be no delay in production.

The robotic arm is one of the most useful pieces of technology to be introduced in the 20th century, and quickly became a
cornerstone in many areas of manufacturing. It can be used for many different jobs and functions that may be too tedious,
difficult or dangerous for a human to do. You might first think of the automobile industry when thinking about robotic
arms, but they can be used for many other useful tasks besides welding and painting auto parts.

PROBLEM DEFINATION

In Machine Fixture loading and unloading Is done by Manually, and manual work manpower Target is to Automation in
Fixture of Machine. So by using robotics we can load & unload the components, which in turn reduces the cycle time &
also require less labour work. So, we compare the job in less time at high accuracy. Hence we can achieve the goal to
reduce the cycle time & increase the productivity.

Objectives
• To study the concept on how Load and Unloading robot function and operate.
• To design the parts for loading and unloading robot.
• To make the system run continuously with less rest.
• To make the robot capable to stop at the desire location accurately.
• To make the robot’s gripper has the function of loading and unloading

Future Scope
 The robot so programmed for pick and place operation can be made versatile and more efficient by providing the
feedback and making it to work on own than any human interventions. It can be made possible by image processing
tool interfaced with this Arduino.
 The features that can be added on to improve its efficiency, make it operate on its own thought without any human
intervention are line follower, wall hugger, obstacle avoider, metal detector, bomb diffuser etc.

METHODOLOGY

First we will design the Robotic arm suitable to our application. we can use the following methods for achieving the Proper
Utilization of System.

Analytical: Firstly, we need to analyse Conventional system taking into consideration the applications and operational
conditions. Then we will analyse the design for factor of safety of the system.

Theoretical: Theoretically we will compare basic and operational parameter of existing conventional working with propose
working.

Experimentally: In our project we will make a Robotic Arm for finding effective Working of system. In Conventional
Working in industry the loading and unloading of object from fixture is take place by the worker manually. So we design &
manufacture the proper robotic arm which work automatically make working easily in the industry.

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 International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211
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LITERATURE SURVEY

GuruduRishank Reddy,Venkata Krishna,PrashanthEranki, “Design and Structural Analysis of a Robotic Arm”.

Automation is creating revolution in the present industrial sector, as it reduces manpower and time of production. Our
project mainly deals around the shearing operation, were the sheet is picked manually and placed on the belt for shearing
which involves risk factor. Our challenge is designing of pick and place operator to carry the sheet from the stack and place
it in the shearing machine for the feeding. We have gone through different research papers, articles and had observed the
advanced technologies used in other industries for the similar operation. After related study we have achieved the design of
a 3-jointed robotic arm were the base is fixed and the remaining joints move in vertical and horizontal directions. The end
effector is also designed such that to lift the sheet we use suction cups were the sheet is uplifted with a certain pressure.
Here we used Creo-Parametric for design and Autodesk-Inventor 2017 to simulate the designed model.

Milind R. Shinde, V. N. Bhaiswar, B. G. Achmare, “Designing a suitable robotic arm for loading and unloading of
material on lathe machine using workspace simulation software
Normally the loading and unloading of work piece on lathe machine is done with manual interface. Our aim is to make it
automatic and fast for better accuracy and improved performance. Robotic work cell simulation is a modeling-based
problem solving approach developed for the design, analysis and offline programming of robotic work cell. Robotic
simulation covers the visualization of how the robot moves through its environment. This project deals with designing the
robotic arm which is to be used for unload and load the work piece on lathe machine. The CAD model of robotic arm is
made using CATIA V5 software and its simulation performed on Workspace Simulation Software. This will increase the
total productivity of machine where there is continuous operation and complete machine utilization. Use of Workspace LT
software for designing the robotic components is very popular.

Simulation Work
Modeling:
CATIA V5 supports multiple stages of producer development, including conceptualization, design (CAD), engineering
(CAE) and manufacturing (CAM). CATIA facilitates collaborative engineering across disciplines around its 3D
EXPERIENCE platform including surfacing and shape design, electrical fluid and electronic system design, mechanical
engineering and system engineering.

Fig no. 1. 3 D Model Object

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 International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211
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Assembled Model & Fabricated Model:

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D Assembly Model:

Calculations
For lifting mechanism
For lifting mechanism

We considering the weight of object is 10 kg .

Mass carrying (m) = 10 Kg
Length of screw = 500 mm
Factor of safety (FS) = 3

Total Load (W) = Mass (m) × Acceleration due to gravity (g)

= 10×9.81
= 98.1 N
Material = (mild steel)
Material Properties,
Syt = 400 Mpa
E = 200Gpa

Permissible compressive stress (σc)-

Syt
σc =
𝐹𝑆
400
=
3
=133.33 (N/mm2)
4) ) Core diameter of screw (dc)2:
W
σ c= π
×(dc )2
4
98.1
133.33= π
×(dc )2
4
dc = 0.967 mm

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 International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211
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We know, d= 22 mm, p= 5 mm
Core diameter of screw (dc)
dc= (d – p)
= 22 – 5
= 17 mm

Mean diameter of screw (dm)

dm = d – 0.5p
= 22 – 0.5(5)
= 19.5 mm
It is assumed that the screw has single start threads. l = p = 5 mm

Helix angle (α)

1
tan α =
πdm
5
= α
π(19.5)
= 4.666º

Friction angle (∅)

The possible value of the coefficient of friction between screw and nut is 0.35
tan∅ = μ
= 0.35
∅ = 19.29º

Since ∅> α screw is self- locking.

1. Torque required to lift & lower the load

(Wd _m)
Mt =
2 ×tan (∅±α)
For Lifting –
(98.1× 19.5)
Mt= × tan(19.29 + 4.666)
2

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Mt= 424.85Nmm

For lowering –

(98.1× 19.5)
Mt = × tan(19.29 − 4.666)
2

Mt= 249.67 Nmm

2. Shear & Compressive Stress

1.τ = (16M_tavg)/ π (dc3)

= (16(337.26)/(π(17)3)
= 0.35 N/mm2

2.σc= W/[π/4×dc2]
= 98.1 /(π/4×(17)2
= 0.43 N/(mm)2
Selection of Motor –
 Required torque of motor (M_t) = 424.85 Nmm
 Required speed of motor (N) = 60 rpm
 Type of supply to motor = 12 Volt D.C.

Torque required to raise maximum load in Kg-cm = (M_tRAISE )/(9.81 ×10)

= 424.85/(9.81 ×10)
= 4.34 kg-cm
Required speed of motor shaft in rpm = 60 rpm

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Budjet And Specification

Project Budget

SR NO PARTICULARS PRICE
1 DC Motors 1200
2 Gripper 350
3 Lead Screw 230
4 Manufacturing Frame and stand 1000

5 Jumper Wire 70
6 Acrylic Material 500
7 Baseplate 810
8 Miscellaneous 2000
Total = 6160

Components
• Grippers:
• In the simplest terms, grippers are devices that enable robots to pick up and hold objects. When combined with a
collaborative (or 'cobot') industrial robot arm, grippers enable manufacturers to automate key processes, such as
inspection, assembly, pick & place and machine tending.
• It's useful to think of grippers as similar to the human hand; they are positioned at the end of the arm and their abilities
allow you to combine the strength of an arm with the dexterity of a hand. This combination opens up a huge range of
possibilities for material handling with robots, from stacking large boxes to handling tiny, delicate electronic
components.

Motor:
A DC motor is any of a class of rotary electrical motors that converts direct current electrical energy into mechanical
energy. The most common types rely on the forces produced by magnetic fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or electronic, to periodically change the direction of current in part of the
motor.

DC motors were the first form of motor widely used, as they could be powered from existing direct-current lighting power
distribution systems.

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However, at higher voltages, electronics to drive a motor are typically more efficient. Although operation is possible with
volts as low as 1.5 that goes up to 100, the most common are the 6v DC motor, 12v DC motor, and 24v DC motor.

Linkages

Linkages:
A mechanical linkage is an assembly of bodies connected to manage forces and movement. The movement of a body, or
link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as
providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of
rigid links and ideal joints is called a kinematic chain.

Lead Screws:
A screw is a type of fastener, in some ways similar to a bolt , typically made of metal, and characterized by a helical ridge,
known as a male thread (external thread). Screws are used to fasten materials by digging in and wedging into a material
when turned, while the thread cuts grooves in the fastened material that may help pull fastened materials together and
prevent pull-out. There are many screws for a variety of materials; those commonly fastened by screws include wood, sheet
metal, and plastic.

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Specifications Of Components

SR NO COMPONENT SPECIFICATION
1 Length 450 mm
2 Width 130 mm
3 Height 800 mm
4 Power Transmission Motor to Lead screw
5 Power Source DC
6 Motor Rpm 100 rpm
7 Torque 100 kgcm
8 Input voltage and current 12 V 0.7A- at No load
2.5 A- at maximum Load
9 Lead screw Length = 500 mm
Diameter = 22 mm
10 Gripper Two Finger Gripper
11 Frame Material Mild Steel
12 Base Plate Mild Steel
13 Rack Pinion Gear Acrylic Material

CONCLUSION

 The design and fabrication of robotic arm for pick and place is completed with economic and effective
considerations.

 It is concluded that this robotic arm is working properly under the specified working envelope and at a given speed
with good accuracy.

 It is successfully able to carry defined payload. This can be used for pick and place operation required in assembly
line which will be helpful to increase productivity.

ACKNOWLEDGMENT

With immense pleasure, we are presenting this project report as a part of the curriculum of BE (mechanical). We wish to
thank all the people who gave us endless support right from the stage the idea was conceived.

We would like to thank to Prof.vaibhav Edake (HOD, Mechanical Department), for giving us opportunity to work on
this interesting topic.

We are heartily thankful to our guide Prof.Vaibhav Edake & project co-ordinator Prop. Nikhil Talwekar whose
encouragement, guidance and support from the initial to the final level enabled us to develop an understanding of the
subject. We are really thankful to our project sponcer vedant enterprises,talawade, pune.for their support.

Lastly, we offer our regards to all of those who supported us in any respect during the completion of the project.

REFERENCES

[1] GuruduRishank Reddy, Venkata Krishna, PrashanthEranki, “Design and Structural Analysis of a Robotic Arm”.
[2] Milind R. Shinde, V. N. Bhaiswar, B. G. Achmare, “Designing a suitable robotic arm for loading and unloading of
material on lathe machine using workspace simulation software”.
[3] Kaushik Phasale, Praveen Kumar, AkshayRaut, “Design, Manufacturing and Analysis of Robotic Arm”, International
Research Journal of Engineering and Technology (IRJET), e-ISSN: 2395-0056 Volume: 05 Issue: 04 | Apr-2018.
[4] Dr. Abdellatif Baba, “Robot Arm Control With Arduino”.
[5] K. L. Voon, M. A. Ismail, N. Mustaffa “Design and Development of a Mechanism of Robotic Arm for Lifting Part”,
2nd Integrated Design Project Conference (IDPC) 2015, Faculty of Mechanical Engineering, Universiti Malaysia
Pahang, 11 Dec 2015.

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 International Journal of All Research Education and Scientific Methods (IJARESM), ISSN: 2455-6211
Volume 9, Issue 7 July -2021, Impact Factor: 7.429, Available online at: www.ijaresm.com

[6] Khaleda Sh. Rejab,WassanEmad Rauf, “Wireless Mobile Robotic Arm Controlled By Ps2 joystick Based
On Microcontroller”, Diyala Journal of Engineering Sciences, ISSN 1999-8716, Vol. 10, No. 3, pp. 44-53, September
2017.
[7] Mir Sajjad Hussain Talpur, Murtaza Hussain Shaikh, “Automation of Mobile Pick and Place Robotic System for
Small food Industry”.
[8] Dongjun Shin, Irene Sardellitti, Yong-Lae Park, OussamaKhatib, and Mark Cutkosky “Design and Control of a Bio-
inspiredHuman-Friendly Robot”, 2009.
[9] Rahul Gautam, AnkushGedam, Ashish Zade, Ajay Mahawadiwar, “Review on Development of Industrial Robotic
Arm” Volume: 04 Issue: 03 | Mar -2017.

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