DESIGN AND FABRICATION OF OIL

SKIMMER ROBOT

PROJECT REPORT 2014-2015

Submitted by
(Team name)

COLLEGE LOGO

Guided by

Submitted in partial fulfillment of the requirement for the

Award of Diploma in -----------------------------------------
By the State Board of Technical Education Government of
Tamilnadu, Chennai.

Department:
College name:
Place:
 COLLEGE NAME

COIMBATORE

DEPARTMENT OF MECHANICAL ENGINEERING

PROJECT REPORT-2012-2013

This Report is certified to be the Bonafide work done by

Selvan/Selvi ---------------- Reg.No. ------------ Of VI
Semester class of this college.

Guide Head of the Department

Submitter for the Practical Examinations of the board of

Examinations, State Board of Technical Education,
Chennai,
TamilNadu.On -------------- (date) held at the ------------
(college name), Coimbatore

Internal Examiner External Examiner

DEDICATED TO OUR BELOVED
PARENTS
ACKNOWLEDGEMENT
 .
ACKNOWLEDGEMENT

At this pleasing movement of having successfully completed our

project, we wish to convey our sincere thanks and gratitude to the
management of our college and our beloved
chairman------------------------.who provided all the facilities to us.

We would like to express our sincere thanks to our principal

------------------for forwarding us to do our project and offering adequate
duration in completing our project.

We are also grateful to the Head of Department proof…………., for

her/him constructive suggestions &encouragement during our project.

With deep sense of gratitude, we extend our earnest &sincere thanks

to our guide --------------------, Department of Mechanical for her/him kind
guidance and encouragement during this project we also express our indebt
thanks to our TEACHING staff of MECHANICAL ENGINEERING
DEPARTMENT, ---------- (college Name).
DESIGN AND FABRICATION OF OIL
SKIMMER ROBOT
CONTENTS
 CONTENTS

CHAPTER NO TITLE

SYNOPSIS

LIST OF FIGURES
1 Introduction
2 Description of equipments
2.1 Dc Motor
2.2 Battery
2.3 Roller
2.4 Conveyer Belt
2.5
3 Design and drawing
3.1 General machine parts
4 Working principle
5 Merits and demerits
6 Applications
7 List of materials
8 Cost Estimation
9 Conclusion
Bibliography

photography

LIST OF FIGURES
 LIST OF FIGURES
Figure
Number Title

1 Overall Diagram
SYNOSPSIS
 SYNOPSIS:

INTRODUCTION
 INTRODUCTION

DESCRIPTION OF EQUIPMENT

DESCRIPTION OF EQUIPMENTS
3.1 DC MOTOR

A DC motor relies on the fact that like magnet poles repel and unlike
magnetic poles attract each other. A coil of wire with a current running
through it generates an electromagnetic field aligned with the center of the
coil. By switching the current on or off in a coil its magnetic field can be
switched on or off or by switching the direction of the current in the coil the
direction of the generated magnetic field can be switched 180°. A simple DC
motor typically has a stationary set of magnets in the stator and an armature
with a series of two or more windings of wire wrapped in insulated stack
slots around iron pole pieces (called stack teeth) with the ends of the wires
terminating on a commutator.

The armature includes the mounting bearings that keep it in the center
of the motor and the power shaft of the motor and the commutator
connections. The winding in the armature continues to loop all the way
around the armature and uses either single or parallel conductors (wires),
and can circle several times around the stack teeth. The total amount of
current sent to the coil, the coil's size and what it's wrapped around dictate
the strength of the electromagnetic field created. The sequence of turning a
particular coil on or off dictates what direction the effective electromagnetic
fields are pointed. By turning on and off coils in sequence a rotating
magnetic field can be created.

These rotating magnetic fields interact with the magnetic fields of the
magnets (permanent or electromagnets) in the stationary part of the motor
(stator) to create a force on the armature which causes it to rotate. In some
DC motor designs the stator fields use electromagnets to create their
magnetic fields which allow greater control over the motor. At high power
levels, DC motors are almost always cooled using forced air.

The commutator allows each armature coil to be activated in turn. The

current in the coil is typically supplied via two brushes that make moving
contact with the commutator. Now, some brushless DC motors have
electronics that switch the DC current to each coil on and off and have no
brushes to wear out or create sparks.

Different number of stator and armature fields as well as how they are
connected provides different inherent speed/torque regulation characteristics.
The speed of a DC motor can be controlled by changing the voltage applied
to the armature. The introduction of variable resistance in the armature
circuit or field circuit allowed speed control. Modern DC motors are often
controlled by power electronics systems which adjust the voltage by
"chopping" the DC current into on and off cycles which have an effective
lower voltage.

Since the series-wound DC motor develops its highest torque at low

speed, it is often used in traction applications such as electric locomotives,
and trams. The DC motor was the mainstay of electric traction drives on
both electric and diesel-electric locomotives, street-cars/trams and diesel
electric drilling rigs for many years.

The introduction of DC motors and an electrical grid system to run

machinery starting in the 1870s started a new second Industrial Revolution.
DC motors can operate directly from rechargeable batteries, providing the
motive power for the first electric vehicles and today's hybrid cars and
electric cars as well as driving a host of cordless tools. Today DC motors are
still found in applications as small as toys and disk drives, or in large sizes to
operate steel rolling mills and paper machines.

If external power is applied to a DC motor it acts as a DC generator, a

dynamo. This feature is used to slow down and recharge batteries on hybrid
car and electric cars or to return electricity back to the electric grid used on a
street car or electric powered train line when they slow down. This process
is called regenerative braking on hybrid and electric cars. In diesel electric
locomotives they also use their DC motors as generators to slow down but
dissipate the energy in resistor stacks. Newer designs are adding large
battery packs to recapture some of this energy.
Principle of DC Motor

This DC or direct current motor works on the principal, when a

current carrying conductor is placed in a magnetic field, it experiences a
torque and has a tendency to move. This is known as motoring action. If the
direction of current in the wire is reversed, the direction of rotation also
reverses. When magnetic field and electric field interact they produce a
mechanical force, and based on that the working principle of dc motor
established.

The direction of rotation of a this motor is given by Fleming’s left

hand rule, which states that if the index finger, middle finger and thumb of
your left hand are extended mutually perpendicular to each other and if the
index finger represents the direction of magnetic field, middle finger
indicates the direction of current, then the thumb represents the direction in
which force is experienced by the shaft of the dc motor.
 Structurally and construction wise a direct current motor is exactly
similar to a DC generator, but electrically it is just the opposite. Here we
unlike a generator we supply electrical energy to the input port and derive
mechanical energy from the output port. We can represent it by the block
diagram shown below.

Here in a DC motor, the supply voltage E and current I is given to the

electrical port or the input port and we derive the mechanical output i.e.
torque T and speed ω from the mechanical port or output port.

The input and output port variables of the direct current motor are
related by the parameter K.

So from the picture above we can well understand that motor is just
the opposite phenomena of a DC generator, and we can derive both motoring
and generating operation from the same machine by simply reversing the
ports.
3.2 BATTERY:

Battery is use for storing the energy produced from the solar

power. The battery used is a lead-acid type and has a capacity of

12v; 2.5A.the most inexpensive secondary cell is the lead acid cell

and is widely used for commercial purposes. A lead acid cell when

ready for use contains two plates immersed in a dilute sulphuric acid

(H2SO4) of specific gravity about 1.28.the positive plate (anode) is of

Lead –peroxide (PbO2) which has chocolate brown colour and the

negative plate (cathode) is lead (Pb) which is of grey colour.

When the cell supplies current to a load (discharging), the chemical

action that takes place forms lead sulphate (PbSO 4) on both the

plates with water being formed in the electrolyte. After a certain

amount of energy has been withdrawn from the cell, both plates are

Transformed into the same material and the specific gravity of the

electrolyte (H2so4) is lowerd.the cell is then said to be discharged.

there are several methods to ascertain whether the cell is discharged

or not.

To charge the cell, direct current is passed through the cell in

the reverse direction to that in which the cell provided current. This
reverses the chemical process and again forms a lead peroxide

(PbO2) positive plate and a pure lead (Pb) negative plate. At the same

time, (H2so4) is formed at the expense of water,restoring the

electrolyte (H2so4 ) to its original condition. The chemical changes that

Occur during discharging and recharging of a lead-acid cell.

BATTERY CIRCUIT DIAGRAM:

CIRCUIT DIAGRAM DETAILS:

In our project we are using secondary type battery. It is

rechargeable Type. A battery is one or more electrochemical cells,

which store chemical energy and make it available as electric current.

There are two types of batteries, primary (disposable) and secondary

(rechargeable), both of which convert chemical energy to electrical

energy. Primary batteries can only be used once because they use

up their chemicals in an irreversible reaction. Secondary batteries can

be recharged because the chemical reactions they use are reversible;

they are recharged by running a charging current through the battery,

but in the opposite direction of the discharge current. Secondary, also

called rechargeable batteries can be charged and discharged many

times before wearing out. After wearing out some batteries can be

recycled.

Batteries have gained popularity as they became portable and

useful for many purposes. The use of batteries has created many

environmental concerns, such as toxic metal pollution. A battery is a

device that converts chemical energy directly to electrical energy it

consists of one or more voltaic cells. Each voltaic cell consists of two

half cells connected in series by a conductive electrolyte.

One half-cell is the positive electrode, and the other is the

negative electrode. The electrodes do not touch each other but are

electrically connected by the electrolyte, which can be either solid or

liquid. A battery can be simply modeled as a perfect voltage source

which has its own resistance, the resulting voltage across the load

depends on the ratio of the battery's internal resistance to the

resistance of the load.

When the battery is fresh, its internal resistance is low, so the

voltage across the load is almost equal to that of the battery's internal

voltage source. As the battery runs down and its internal resistance

increases, the voltage drop across its internal resistance increases,

so the voltage at its terminals decreases, and the battery's ability to

deliver power to the load decreases.

2.3 CONVEYOR BELT

A conveyor belt is the carrying medium of a belt conveyor

system (often shortened to belt conveyor). A belt conveyor system is
one of many types of conveyor systems. A belt conveyor system
consists of two or more pulleys (sometimes referred to as drums), with
an endless loop of carrying medium—the conveyor belt —that rotates
about them. One or both of the pulleys are powered, moving the belt
and the material on the belt forward. The powered pulley is called the
drive pulley while the unpowered pulley is called the idler pulley.
There are two main industrial classes of belt conveyors; Those in
general material handling such as those moving boxes along inside a
factory and bulk material handling such as those used to transport
large volumes of resources and agricultural materials, such
as grain, salt, coal, ore, sand, overburden and more.

DESIGN AND DRAWING

 DESIGN AND DRAWING

BLOCK DIAGRAM OF OIL SKIMMER ROBOT

WORKING PRINCIPLE
WORKING PRINCIPLE
MERITS

MARITS
 It requires simple maintenance cares.

 Easy to Handle.
DEMERITS

DEMERITS
 Initial cost is high
 APPLICATIONS

APPLICATIONS

 Used for environmental friendly

 LIST OF MATERIALS

LIST OF MATERIALS

FACTORS DETERMINING THE CHOICE OF MATERIALS

 The various factors which determine the choice of material are
discussed below.

1. PROPERTIES:

The material selected must possess the necessary properties for the

proposed application. The various requirements to be satisfied can be

weight, surface finish, rigidity, ability to withstand environmental attack

from chemicals, service life, reliability etc.

The following four types of principle properties of materials

decisively affect their selection

a. Physical

b. Mechanical

c. From manufacturing point of view

d. Chemical

The various physical properties concerned are melting point, thermal

Conductivity, specific heat, coefficient of thermal expansion, specific

gravity, electrical conductivity, magnetic purposes etc. The various

Mechanical properties Concerned are strength in tensile, Compressive shear,

bending, tensional and buckling load, fatigue resistance, impact resistance,

elastic limit, endurance limit, and modulus of elasticity, hardness, wear

resistance and sliding properties. The various properties concerned from the

manufacturing point of view are,

 Cast ability

 Weld ability

 Bribability

 Forge ability

 Merchantability

 Surface properties

 Shrinkage

 Deep drawing etc.

2. MANUFACTURING CASE:

Sometimes the demand for lowest possible manufacturing cost or surface

qualities obtainable by the application of suitable coating substances may

demand the use of special materials.

3. QUALITY REQUIRED:

This generally affects the manufacturing process and ultimately the

material. For example, it would never be desirable to go casting of a less

number of components which can be fabricated much more economically by

welding or hand forging the steel.

4. AVILABILITY OF MATERIAL:

Some materials may be scarce or in short supply. it then becomes

obligatory for the designer to use some other material which though may not

be a perfect substitute for the material designed. The delivery of materials

and the delivery date of product should also be kept in mind.

5. SPACE CONSIDERATION:

Sometimes high strength materials have to be selected because the forces

involved are high and space limitations are there.

6. COST:

As in any other problem, in selection of material the cost of material

plays an important part and should not be ignored.

Sometimes factors like scrap utilization, appearance, and non-

maintenance of the designed part are involved in the selection of proper

materials.
 COST ESTIMATION

COST ESTIMATION

1. LABOUR COST:

 Drilling

 Welding,
  Power hacksaw,

2. OVERHEAD CHARGES:

The overhead charges are arrived by “manufacturing cost”

Manufacturing Cost =Material Cost +Labor Cost

Overhead Charges =20%of the manufacturing cost

3. TOTAL COST:

Total cost = Material Cost +Labor Cost +Overhead Charges

Total cost for this project =

\

CONCLUSION

CONCLUSION
 We make this project entirely different from other projects. Since

concepts involved in our project is entirely different that a single unit is used

to various purpose which is not developed by any of other team members.

We have successfully completed this project work at our Institute.

By doing this project work we understood the working principle of

uses of motors, gears, and microcontroller and material properties

Once again we express our sincere thanks to our staff members.

BIBLIOGRAPHY

BIBLIOGRAPHY
 Chonnaparamutt.k, H. Kawasaki, S. Ueki, S. Murakami, and

K.Koganemaru, “Development of a Timber jack-like Pruning Robot:

Climbing Experiment and Fuzzy Velocity Control”, pp 1195-1199

ICCAS-SICE 2009.

 Devang P. Soni, Ranjana. M, N.A.Gokul, Swaminathan .S,

“Autonomous Arecanut Tree Climbing and Pruning Robot”, pp- 278-

282 IEEE 2010.

 Kawasaki H, Murakami S, Kachi H, “Analysis and experiment of

novel climbing method” Proceedings of the SICE Annual Conference

2008, pp. 160–163.

 Kawasaki H, Murakami S, Koganemaru K,“Development of a pruning

robot with the use of its own weight”. Proceedings of Clawer 2010,

pp. 455–463

 Rajesh KannanMegalingam, Tom CharlyKattakayam,

HarikrishnaMenonT, RaiduVenuMadhav, “CocoBot: A Kinect Based

Coconut Tree Climber”

 Ueki .S• H. Kawasaki • Y. Ishigure • K. Koganemaru Mori

“Development and experimental study of a novel pruning robot