1.

INTRODUCTION
Hydraulic machines are machinery and tools that use liquid fluid power to do simple work,
operated by the use of hydraulics, where a liquid is the powering medium. In heavy
equipment and other types of machine, hydraulic fluid is transmitted throughout the machine
to various hydraulic motors and hydraulic cylinders and becomes pressurised according to the
resistance present. The fluid is controlled directly or automatically by control valves and
distributed through hoses and tubes.

The popularity of hydraulic machinery is due to the very large amount of power that can be
transferred through small tubes and flexible hoses, and the high power density and wide array
of actuators that can make use of this power.

Department of Mechanical Engineering,

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 PICK AND PLACE MECHANISM USING HYDRAULICS

2.WORKING PRINCIPLE
The basic idea behind any hydraulic system is very simple: Force that is applied at one point
is transmitted to another point using an incompressible fluid. The fluid is almost always
an oil of some sort. The force is almost always multiplied in the process.

Hydraulic systems use liquid fluid power to do simple work, operated by the use of hydraulics,
where a liquid is the powering medium. Heavy equipment is a common example. In this type
of machine, hydraulic fluid is transmitted throughout the machine to various hydraulic motors
and hydraulic cylinders and becomes pressurized according to the resistance present. The fluid
is controlled directly or automatically by control valves and distributed
through hoses and tubes.

In this mini model we use 10 ml syringes connected end to end via I.V. pipes and are filled
with liquid which in this case is water. When one piston/plunger is pushed, by the pressure of
the fluid inside the pipes, other piston/plunger gets pushed back outwards hence transmitting
the motion provided by the input piston/plunger. The ends of the pistons/plungers are
connected to various points on the links so that the motion of the links can take place. The
links/arms are linked together such that they form a turning pair. The turning motion of these
links is governed by the movement of the pistons/plungers connected to it. The model can lift
objects up to a maximum of 50 grams. It has 3 degrees of freedom.

The structural components of the model are made out of wood. Joining components like
brackets are made of mild steel. The total weight of the Model is 3kg and the maximum lifting
capacity of the mechanism is 50 grams. The load bearing capacity is not limited by the wooden
structure but by the relatively weaker jaws.

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3.COMPONENTS OF PICK AND PLACE MECHANISM

1. Syringes - 10ml x 6
2. Wooden arm -1 (2 nos.) = 13cm; having holes of D=5mm, 2cm from both ends along
the length to accommodate bolt/shaft in order to provide rotating motion.
3. Wooden arm -2 (2 nos.) = 18cm; having holes of D=5mm, 2cm from both ends along
the length to accommodate bolt/shaft in order to provide rotating motion.
4. Circular bearing - I.D.=12mm, O.D.=2=mm
5. Cylindrical shaft- D=12mm, L=45mm
6. Circular base plate D=250mm
7. Rotating Plate (CROSS) L=310mm B= 230mm where one end is longer than others.
8. Wooden base plate 2- 200x200x20 mm
9. Wooden control plate- 200x100x10mm with circular cut outs for syringes/pistons
10. L bracket [1]: L= 200mm with 3 holes on either face, 1 at each 50mm; MS 0.8mm
11. L bracket [2] : L=20mm; MS 0.8mm
12. Jaw- L shaped cardboard cut out (x 2) with rubber grips on the tip
13. Rectangular card board cut out -1 50x30x5 mm
14. Rectangular card board cut out-2 for fixing jaws 50x20x5 mm
15. IV pipes (x 3)
16. MS wire D=1mm
17. Bolts = 4- machine screw with bolts x 4
18. Nuts x 8
19. Washer x 8
20. Screw x 6
21. Nails x 14
22. Open Square box with rectangular cut out of dimensions 10X15 on one of the sides
from the edge.
23. A rectangular wooden plate with a circular cut out at the edge of D= 16mm, size
50x20x10
24. Rubber grips of dimension 25x10 (2 nos)

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25. Arm1 motion with reference to Base Plate2- 20degree to 50 degree rotation.
26. Arm2 motion with reference to Arm1- 75degree to 120degree

Kindly refer to these dimensions for the rest of the report.

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4.STEPS FOLLOWED FOR CONSTRUCTION-

1. Base plate 2 is taken horizontally. The control plate is placed perpendicular on one of
the sides of the base plate 2 and both of these wooden plates are held perpendicular to
each other via an L bracket and screws.
2. Place the smaller L brackets with their smaller faces screwed to the base plate 2 side by
side such that both the L’s are visible as mirror images as each other. Perpendicularly
through these two L’s a hole is made and arm-1 is placed between these two and held
in place via nuts bolt and washers so that it forms a rotating link.
3. Then at the other end of arm-1, arm-2 is linked via similar process of adding a shaft/nut
bolt [nut bolt in this case] so that link-2 can rotate with reference to link 1.
4. Note that the arm 2 is greater than arm 1 in length and the Jaw for lifting is fitted on the
end of the arm 2.
5. The construction of jaw is as follows – 1. Rectangular card board cut out 2 is placed on
the thickness of both the arms and two holes are made in it so that the jaws can be
attached to it and loosely fixed using nut and bolt so as to provide rotation for the
gripping movement.
6. Another rectangular card board cut out 1 is fixed on the midpoint of the arm 1, and an
end of a mild steel wire is attached to it and its other end is left free for now.
7. Now, the 10ml syringes are attached to each other end to end by I.V. pipes that are
filled with water such that when one piston/plunger is pushed, the other one gets pushed
outward and hence can act as input and output motions.
8. The square box is fixed on the midpoint of the arm 2 at the underside so as to house the
circular plate of the piston/Plunger flange of syringe so that when input motion is
provided the output motion is able to impart motion to the arm 2.
9. 3 of such syringe pairs are made (with 6 syringes and 3 I.V. pipes). In the pair, one
syringe is providing input and other is providing output.
10. All the input providing syringes are placed in the circular cut-outs provided at the
control plates and named 1, 2 and 3 for the function they perform.

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11. Output Syringe 1 is placed on the edge of the wooden base plate 2 and the free end of
the mild steel wire is attached to it so that it can give rotating movement to the arm 1
with respect to the base plate 2.
12. Output syringe 2 is placed on the underside of the arm 1 in an inclined fashion such that
its mouth is attached to the arm 1 and the plunger is in contact with the box attached on
the underside of the arm 2.
13. Output syringe 3 is fixed on the upper side of the arm 2 using duct tape so that the
plunger is placed outwards to the jaws. The jaws are connected to the plunger.
14. Now for the rotating mechanism, we make a cross like wooden cut out such that one
side of the cross is greater than the others. This longer arm will serve as to input to
provide rotation to the entire upper body.
15. Then in the centre of the cross, a hole is made by a drill and bearing is hammered into
it.
16. Then the upper body is just placed on the cross and its outline is taken and on the outline
some wooden pieces are hammered so that it forms a compound for the base plate 2.
This restricts the motion of the base plate with respect to the cross.
17. Now a circular base plate is taken and in its centre, a hole of 12mm is drilled and the
shaft is hammered such that it has no movement with respect to the circular plate.
18. Then the cross is placed on the shaft and the free end of the shaft is fixed into the hole
in the bearing.
19. Then the upper body is placed on the cross. Now it can rotate full 360 degrees via
mechanical input.
20. Now the syringes are fixed in the circular cut outs on the control plate and the
movement of the complete mechanism is operated from there.

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 PICK AND PLACE MECHANISM USING HYDRAULICS

Fig.1- Front View (CAD Model)

Fig.2- Orthogonal View (CAD Model)

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 PICK AND PLACE MECHANISM USING HYDRAULICS

Fig.3- Side View (CAD Model)

Fig.4- Top View (CAD model)

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 PICK AND PLACE MECHANISM USING HYDRAULICS

Fig.5- Top View (Actual Model)

Fig.6- Front View (Actual Model)

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 PICK AND PLACE MECHANISM USING HYDRAULICS

Fig.7- Side View (Actual Model)

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5.OPERATION
1. There are in total four input links where we input is to be provided by mechanical inputs
(by hand).
2. The four of them are- 3 syringes and 1 is an extended Cross shaped platform.
3. When the piston/plunger of syringe 1 is pushed, the arm 1 moves towards the ground.
This arm is connected to the output plunger by and ms wire. When the input plunger is
pulled back, the output plungers pulls back the arm 1 towards the body.
4. Similarly, when syringe 2 is pushed the output plunger pushes the arm 2 upper, hence
lifting it upwards.
5. When syringe 3 is pushed, the jaws attached to it via ms wire open and when the input
plunger is pulled back the jaws close.
6. When the body is mounted on the cross and its longer end is given manual input, the
cross can undergo a complete 360 rotation.

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6.PROCEDURE FOR OPERATION

So for complete process, let us assume that the arms are not in contact of ground, and
are held up in the air. The object to pick up is placed on the ground.
1. So first we operate the input plunger by pushing it which imparts motion to arm 1.
The arm 1 bends forward.
2. Then input plunger 2 is pulled back so that arm 2 can be lowered to the ground to
pick up the desired object.
3. Then the input plunger 3 is pulled back so that the open jaw closes and using the
grip, holds on to the object.
4. Now the input plunger 2 is pushed so pick the arm 2 up.
5. Then the input plunger 1 is pulled back to make the arm 1 to rise upward again.
6. The object is now lifted in the air. Now rotate the cross plate wherever desired and
using similar process lower the arms down, open the jaws and pull the arms back
up to the rest position.

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 PICK AND PLACE MECHANISM USING HYDRAULICS

7.CALCULATION
The maximum payload capacity of our mechanism is 50 grams, which is limited
due to the cardboard material used in the making of the jaws.
The maximum pressure applied by the 10 ml syringe is 379211 Pascal.
So, calculating the gripping force
F = Pressure x Area
Force = 379211 x 2.010
F = 762214.69 N/mm^2

Therefore F = 76.22 N/m^2

So, the maximum force that can be exerted by the Gripper on the object that it has
to lift is 76.22 N/m^2.

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 PICK AND PLACE MECHANISM USING HYDRAULICS

8.USES AND APPLICATION

Generally, Pick and Place machines/robots can be used anywhere where there is transfer for
product from one place to other. It is be used in industries, where handling and moving of
objects is required. It is often used in handling of bombs in ordinance factories.

They make the work easier, faster than traditional manual labour and avoid errors in real
time. They can range from small to large depending on the purpose and the amount of loads
to lift and properties of material (e.g. Bomb, Chemically reactive Substance)

They are generally used where the objects to be picked and placed might be harmful to come
in contact of- Chemicals.

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9.CONCLUSION
The design and development of pick and place mechanism has been carried out. A prototype
was confirmed functional working of mechanism. This system would make it easier for human
beings to pick and place the risk of handling suspicious objects, which could be hazardous in
its present environment and workplace. Complex and complicated duties can be achieved faster
and more accurately with this design. The mechanism used here contains a soft catching
gripper, which safely handles the object. In the modern era, time and man power are major
constraints for the completion of a task. By the use of product, the industrial activities and
hazardous operations can be done easily and safely in a short span of time.
The developed system is capable of lifting only small weights; but by introducing high torque
motor large weights can be picked. A wireless camera can also be implemented to track the
movement of the vehicle and thus it can be used for defence purposes. The range is also a
limitation here but it can be enhanced.

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REFERENCES

1. S.R.Deb “Robotics technology and flexible automation”

2. https://science.howstuffworks.com/transport/engines-equipment/hydraulic.htm
3. https://www.britannica.com/science/hydraulics
4. https://en.wikipedia.org/wiki/Hydraulic_machinery
5. https://www.ijert.org/research/book-handling-robot-for-libraries-
IJERTV2IS80048.pdf
6. https://www.iaeme.com/MasterAdmin/uploadfolder/IJMET_09_01_016/IJMET_09_0
1_016.pdf
7. http://journalijcar.org/issues/robotic-arm-pick-place-operation-using-matlab-based-
offline-surface-clustering-algorithm

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