Reference no: EM133748541
Laboratory
Laboratory work forms an essential part of the Unit, and as such, students are expected to complete and submit the reports on time.
Background
Robotic manipulator is an electromechanical device which is used to manipulate materials without direct physical interaction by the operator. Originally robotic arms were designed to deal with radioactive or biohazardous materials or in inaccessible places [1].
Robotic manipulators are capable of performing repetitive tasks at speeds and accuracies that far exceed those of human operators. They are now widely used in manufacturing processes such as spot welding and painting. To perform their tasks accurately and reliably, manipulator hand (or end-effector) positions and velocities are controlled digitally. Each motion or degree of freedom (DOF) of the manipulator is positioned using a separate position control system. All the motions are coordinated by a supervisory computer to achieve the desired speed and positioning of the end effector. The computer also provides an interface between the robot and the operator that allows programming the lower-level controllers and directing their actions.
Lab Report
Students are required to document each project in the form of a lab report. The format of the Lab Report is as follows (Following the MIT format as discussed in the lectures). Use this as guideline in documenting your projects. Not all items may be needed in documenting the projects you undertake.
Purpose/Objective(s) Why are we doing the lab? What questions are you trying to answer?
Hypothesis What do you expect the results to be?
This should relate directly to the problem
Materials List of all the Materials you will use during the lab
Procedure Steps should be listed and numbered.
Steps should be clearly written, detailed, and brief
It must indicate HOW data will be taken
Tabulated Data Must be in the form of a table
Be sure to use units
Analysis Graphs, calculations, important observations
Conclusion A good conclusion answers 3 questions:
What did you do in the lab?
Restate the purpose/problem
A brief description of how you tested it
What you used to gather data
What does your data say?
Look at your data table or sketch and turn it into a sentence or two.
What did you learn?
This should answer the question posed in the purpose/problem.
Lab Report
Once all the projects are completed, compile the corresponding reports into a single Word document (Name the file studentNumber_LabWork1.doc replacing studentNumber with your own student number) and submit by the deadline for marking.
Project: Design of a Robotic Manipulator for pick and place tasks.
The objective is to design a 4 DOF Robotic Manipulator as shown in Figure 3 with gripper that can pick and place objects around its workspace. It should be able to perform various mechanical operations ranging from carrying objects from place to place, lifting things to change its position to manipulating bodies in the air during transportation.
Requirements:
Scope: The manipulator should be stationary and mounted onto the table
Workspace: The manipulator should be able to reach objects placed on 1 meter. Workspace should cover the vertical space above the platform as well as shown in the following figure.
Material: Aluminium must be used as material for robotic manipulator.
Degrees of freedom of robotic arm: 4 DOF (gripper is not included)
Actuators: DC electric motors (as an example you may choose any motor from 3D model is available there.
Weight of the manipulator should not exceed 30 kg.
1) Detailed report about the dimensions and features of the manipulator, how the motor will be attached should be also clearly shown and described.
2) The Solidworks files, such as assembly together with separate parts should be included.