ECMM103p  

FIRECRACKERS GROUP

1.Introduction
With the continuous improvement of modern industry and the development of
mechanization and automation in the production process, robotic arms have been widely used
through their own distinctive features.For example: Robotic arms can improve work
efficiency, improve product quality, allow workers to work more easily, and avoid personal
accidents. In the harsh environment of high temperature, high pressure, low temperature, low
pressure, dust, noise, radioactive and toxic pollution, manipulators can partially or completely
replace people to safely complete operations and perform production in a rhythmic manner.Its
application in the machining industry has greatly improved production efficiency, saving
labor costs by more than 50%, not only in the industrial development of the robot arm has a
key role in the development of other fields have made great progress, such as agriculture ，
even in life, robotic arms can help people a lot.

2. Design requirements and parameter formulation

When we were thinking about this design, we analyzed different methods and literature
references on the internet, and we wanted to design a robotic arm. The design requirement of
this manipulator is that it can be used to handle objects that can move in any direction and lift
objects up to 10 kg. After reviewing the requirements, we decided to design it as a
manipulator that uses hooks to transport goods in a short distance.

In this project, we believe that the biggest innovation is the use of DC servo motor as the
joint of the manipulator, which makes the movement of the manipulator more accurate and
controllable, and eliminates the use of limit switch.

We compared four common manipulator structural designs and power sources:

Table 2.1 Comparison of different manipulator structures

Structure
three-dimensional ectangular
coordinate workspace
manipulator
cylindrical workspace
manipulator
spherical workspace
manipulator
hinged manipulator
Advantage
The structural stiffness is
good and the control system
is simple
The structural stiffness is
good and the power is small
Compact structure
Compact structure
Disadvantage
Large space occupation and
low efficiency
Low efficiency
Insufficient arm stiffness
Insufficient arm stiffness
 Table 2.2 Comparison of different power sources
Power Advantage Disadvantage
Hydraulic transmission High power Easy to leak
Strong control performance
Long service life
Compact structure
Pneumatic drive Poor controllability Low power
Small volume
DC servo motor drive Good starting, braking and The control system is
speed regulation difficult
characteristics
Stepper motor Simple structure and control Volatile step
As the load of the manipulator is small, only 10kg, and there is a certain demand for
volume, considering the advantages and disadvantages of various driving modes, DC stepping
motor and hinge structure are selected to complete the manipulator design in this design.
Three motors complete the three-dimensional motion in space.

Table 2.3 Movement angle limit of 3 motors

Link Degrees of Rotation speed

Freedom
(DOF)
1 360 60°/s

2 90 60°/s

3 90 60°/s
 According to the above , we have selected the following servo motors and reducers:

Position Motor Motor Motor Reducer Reduction Reducer

Model Power Model ratio Torque N.m

Lumbar motor 1 R-GK9073-10AF61 2000 APEX- 100 450

AE155

Boom motor 2 R-GK9055-10AF61 2000 APEX- 100 450

AE155

Jib motor 3 R-GK9031-8AF31 750 APEX- 100 100

AE090

3.conclusion
After reviewing the information, we clearly see that there are some demands for robot
arms in most industries, and the use of robot arms has many advantages.Nowadays, industrial
robotic arms are very common. .Therefore, our group believes that the robotic arms we design
can be used in industry, agriculture, and personal life. Although the robot arm we designed is
only a model, after evaluation by our team, we believe that this robot arm has good market
feasibility.

First of all, factory automation is becoming more and more common, and the use of
robotic arms is very extensive, especially in assembly line production. As a sorting tool,
robotic arms have fewer joint freedoms, but they can be more moved at a large angle. For
example, the elbow of the articulated robot can bend upwards or downwards, while the
human can only bend the elbow in one direction relative to the position of the straight arm,
which undoubtedly greatly improves the efficiency of production.

In agriculture, we also believe that this robotic arm also has some market needs.
Nowadays, agriculture is facing various challenges, including land loss, labor shortage
leading to reduced food productivity.If the population expands to an order of magnitude,
agricultural production will be raised, so the pressure brought by agriculture will gradually
rise. Therefore, the mechanical arm we designed can provide help to these challenges and
reduce the harm caused by agricultural production. The robotic arm can be installed in an
orchard or vegetable field to harvest fruits and vegetables, or it can be installed in a
production plant to speed up production efficiency,.We want to connect the robotic arm
through a computer to help local agriculture develop.

Speaking of personal life, we searched the literature and found that some elderly people
have difficulty moving at home. When they are alone at home, they cannot complete a series
of processes， because they are too old. We believe that this mechanical arm can be placed
in the residence of the lonely elderly. Through the use of the mechanical arm, the range of
movement of the elderly can be greatly increased and the accident rate can be reduced.

4.references
4.1 Rajesh Kannan Megalingam, Gedela Vamsy Vivek, Shiva Bandyopadhyay, Mohammed
Juned Rahi（2017）Robotic Arm Design, Development and Control for
Agriculture Applications，International Conference on Advanced Computing and
Communication Systems ，https://ieeexplore.ieee.org/stamp/stamp.jsp?
tp=&arnumber=8014623
4.2 Haider A. F. Almurib , Haidar Fadhil Al-Qrimli , Nandha Kumar （2011），A Review
of Application Industrial Robotic Design，https://ieeexplore.ieee.org/stamp/stamp.jsp?
tp=&arnumber=6152387
4.3 Kruthika,K，Kiran Kumar B.M，Sanjay Lakshminarayanan（2021），Design and
Development of a Robotic Arm，https://ieeexplore.ieee.org/stamp/stamp.jsp?
tp=&arnumber=8053274
4.4 Doc In. 2021. 三 关 节 机 械 臂 设 计 . [online] Available at: <https://www.docin.com/p-
682010851.html> [Accessed 2 December 2021].
Parts design and final assembly
Originally, when we come to the part of part designing and assembly, what we want to do first is
to have a look at what the robotic arms look like in the market. Products with persuasive
reputation and comments, high sales means its performance can stand with all kinds of tests, We
try to use some hot and novelty products like, the CRX-15iA FANUC robot arm, as the references,
the sensitive sensors in the base make itself reliable to be a high-performer with a good level of
safety(1), but consider about the time limit, the teammates’ design skills, technical challenges.
We finally decide to reference some typical robotic design (the IRB 1100, IRB 120 ABB robot
arm.etc)which is still competitive in the market, focusing on a innovative novelty product may
seems too ambitious. Some main figures of the referenced arms are given in table1(2) and table2
(3).
 table1.the figure of IRB 1100 table2.the figure of IRB120

Based on the reference products we mentioned above and the paper used in the robot market
and development research part, we finally get every parts of our robotic arm as well their
dimensions.