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111 116 PDF
Pneumatics also holds advantages over selected such that it would withstand vibrations and varying
electromechanical power transmission methods. Electric load acting on it. Materials used to build the system were
motors are often limited by heat generation. Heat generation almost mild steel and nylon- cotton for belt.
is usually not a concern with pneumatic motors because the
Design calculations and 3D Modelling: calculations were
stream of compressed air running through them carries heat
carried out for design of shaft, arm, griping cylinder and
from them. Furthermore, because pneumatic components
lifting cylinder. Accordingly 3D model of the components
require no electricity, they don’t need the bulky, heavy, and
were prepared using Modelling Software CREO 2.0. The 3D
expensive explosion-proof enclosures required by electric
model of components and the Assembly model gave the
motors. In fact, even without special enclosures, electric
dimensional pictorial view of the Pneumatic arm which was to
motors are substantially larger and heavier than pneumatic
be fabricated.
motors of equivalent power rating. Plus, if overloaded,
pneumatic motors will simply stall and not use any power. Fabrication and Assembly of the Machine: After preparing the
Electric motors, on the other hand, can overheat and burn out 3D model of the machine using CREO 2.0 operations like Arc
if overloaded. Moreover, torque, force, and speed control with Welding, Drilling, Boring, Step turning, Threading, Grinding,
pneumatics often requires simple pressure- or flow-control Sheet metal cutting, and mounting of bearings were carried
valves, as opposed to more expensive and complex electrical out. The full arm was assembled using permanent fastening
drive controls. And as with hydraulics, pneumatic actuators like welding and temporary fastenings like bolt and nuts.
can instantly reverse direction, whereas electromechanical
Various components are used in the fabrication of Pneumatic
components often rotate with high momentum, which can
arm are listed below
delay changes in direction.
2.1 Pneumatic cylinder
II. OBJECTIVES AND METHODOLOGY
Double acting cylinder is considered to be as a main
The main objective of our proposed work is actuator in any pneumatic systems. Double acting cylinders
are more expensive than single acting cylinders, but double
Design and fabricate a pneumatic arm
acting cylinders are superior than the single acting cylinders
With Work volume 0.6 m3
by any other important measure. Double acting cylinders are
With 1800 base rotation
faster and stronger. In industrial applications, single acting
To pick and place cylindrical objects from lower
cylinders are also used if possible, but when speed and force
plane to higher plane,by using Steel shaft Al
are important double acting cylinder are employed.
cylinders,C-45 Pistons, manual operated pilot valve
Applications include opening and closing doors, taking things
and grippers.
off conveyor belts and putting things on conveyor belts.
The Project planning and methodology involved the following
steps;
2.2 Direction Control Valve When downstream pressure nears the present level,
the piston moves upward pulling the poppet towards its seat.
A 5/2 way direction control valve, from the name itself has 5
The poppet, once it seats, does not allow pressure to continue
ports equally speed and 2 flow positions. It can be used to
building downstream.
isolate and simultaneously bypass a passage way for the fluid
which for example shoud retract or extend a double acting
cylinder. There are variety of ways to have this valve
actuated. A solenoid valve is commonly used, a lever can be
manually twist or pinch to actuate the valve, an internal or
external hydraulic or pneumatic pilot to move the shaft inside,
sometimes with a spring return on the other end so it will go
back to its original positions when pressure is gone, or a
combination of any of mention above.
I=
Y=b/2
b=14mm
A counter weight is embedded in order to avoid deflection of Figure 4.3 3D model of Shaft with Helical Slot
the arm .By trial and error, counter weight of 1.5 kg is added
and length is increase by 300 mm
Therefore a Standard availability bar of 25mm is selected for
the arm
Weight of the bar is =density * volume
W=7700*.025*.025*.800
=3.5 kg
3.2 Design of Shaft
Ds=22.535mm.
Figure 4.4 3D model of Cylinder
3.3 Lifting Cylinder
Standard Cylinder of the bore available is 50mm and stroke
length is 150mm.
IV. 3D MODELLING
The modeling of system is done using Creo Parametric 2.0
Software.
Direction Y-direction
VII. CONCLUSION
The design and fabrication of pneumatic arm for pick and
place is completed with economic and effective
considerations. It is controlled by manually operated pilot
valves .pneumatic arm movement and rotation is done by
pneumatic cylinder using a helical slot mechanism. The
gripper is also a pneumatic actuator which holds cylindrical
objects. The maximum pay load is 49.1N and total weight of
arm is 63.1N.
Figure 6.2 Time V/s Displacement for 0 Kg
The results obtained from the theoretical calculations indicate
Time taken for the pick and place of cylindrical objects for that the pick and place pneumatic arm fabricated can pick a
different cases are noted by conducting repeatability test for load of 49.1N cylindrical objects with variable dia of 60 to
the dead weight or no load condition the time taken by the 120 mm, which could pick the object and place in a semi
arm for complete rotation is 2.1 s at a constant pressure of 4 hemispherical work volume.
bar.
REFERENCES
[1]. Rakesh.N, Pradeep Kumar.A, Ajay.S International journal of
scientific & technology research volume 2, issue 8, august 2013
issn 2277-8616
[2]. Freundt, M., Brecher, C, Wenzel, C, Pyschny, N., 2008, in IFIP
International Federation for Information Processing, Volume 260,
Micro-Assembly Technologies and Applications, eds. Ratchev, S.,
Koelemeijer, S., (Boston: Springer), pp. 285-295
[3]. Mohd Aliff, Shujiro Dohta, Tetsuya Akagi, Hui Li 1877-7058 ©
2012 Published by Elsevier Ltd. doi:
10.1016/j.proeng.2012.07.153
[4]. Rafigul I. Noorani Math1 Cornput. Modelling, Vol. 14, pp. 450-
455, 1990 Printed in Great Britain
[5]. Deb, S. R. (n.d.). Robotic technology and flexible automation.
[6]. Government of India. (n.d.). NPTEL. Retrieved 2013, from
http://nptel.iitm.ac.in/
[7]. Groover, M. P., & Weiss, M. (n.d.). Industrial robotics.
Figure 6.3 Time V/s Displacement for 2Kg [8]. Khurmi, R. S., & Gupta, J. K. (n.d.). Machine design.
[9]. NASA. (n.d.). Robotics alliance project. Retrieved March 13,
The pneumatic arm is now tested for the pay load of 2 kgs 2013, from http://robotics.nasa.gov/
.time taken for one cycle is increased by 4s due to the effect of [10]. Rajput, R. K. (n.d.). Robotics and industrial automation.
payload at a constant pressure of 4 bar. The net time taken by
the arm for one cycle is 6.2s.