Phase 1 of Articulated Arm 6-Axis Robot - PowerPoint PPT Presentation

Phase 1 of Articulated Arm 6-Axis Robot

��������� ����������� Cole Christensen Joshua Dugo Cory Nann Kris Magri Michael Tomin Mechatronic Mechatronic Mechanical Mechatronic Mechanical Faculty Advisor: Ramesh Varahamurti Project Sponsor: Micro-Vu

������������������ The Problem: • Loading/unloading Micro-Vu's vision measuring machines is labor-intensive and time-consuming • Small fraction of products can be checked for quality The Purpose: • Design, build, and test a prototype articulated arm 6-axis robot. • Can provide 100% quality checking when used in conjunction with a Micro-Vu vision measuring machine

�������������� ��������� Maximum Payload 9 kg Nominal Payload 5 kg Cycle Time < 10 s Horizontal Reach 700 mm ±500 � m Repeatability < 50 � m Deflection Power Source 120 VAC Must be Aesthetically Pleasing

Cycloidal and 6061-T6 Aluminum Body Planetary Gearboxes Electrical/ Pneumatic EOT Interface Brushless Servo Motors

���������������������������������� • Designed In Solidworks • Machined from 6061-T6 Aluminum • Complex Geometry Performed on 5 Axis CNC by Micro-Vu (Thanks!)

Cycloidal and 6061-T6 Aluminum Body Planetary Gearboxes Electrical/ Pneumatic EOT Interface Brushless Servo Motors

����������������� Backlash (arc- Peak Torque of Peak Torque at Speed of motor Output Speed of Axis Gear ratio min) motor (Nm) Output (Nm) (rpm) Load (rpm) 1 57:1 1 5 80.6 1470 25.8 2 105:1 1 3.8 159.2 802 7.6 3 105:1 1 1.9 165.2 2126 20.3 4 25:1 16 0.9 4.4 3000 120 Nabtesco Gearhead Bearing Loading Calculated Allowable Thrust Factor of Axis Moment Moment Load Load [N] Safety Load [Nm] [Nm] 1 135 882 400 6.5 2 23 882 150 38.3 3 14 195 250 13.9 Neugart Gearhead Bearing Loading Allowable Calculated Calculated Allowable Axis Radial Load Radial Load Axial Load Axial Load [N] [N] [N] [N] 4 550 1200 530 370

Cycloidal and 6061-T6 Aluminum Body Planetary Gearboxes Electrical/ Pneumatic EOT Interface Brushless Servo Motors

���� ��������!�������� Axis Manufacturer Model Frame Size [mm] Power [W] Feedback 1 Tamagawa TS4613 80 600 17-bit Absolute Multi-Turn 2 Tamagawa TS4609 60 400 17-bit Absolute Multi-Turn 3 Tamagawa TS4607 60 200 17-bit Absolute Multi-Turn 4 Tamagawa TS4606 60 100 17-bit Absolute Multi-Turn TOTAL POWER 1300

Cycloidal and 6061-T6 Aluminum Body Planetary Gearboxes Electrical/ Pneumatic EOT Interface Brushless Servo Motors

"����������#����������"$��%�������� QTY PART FUNCTION 1x SMC 4 Station Body Mounted Manifold Allows For Expansion Up to 4 Solenoids (8 Ports) 2x SMC 5 way-3 Port Solenoids Allows Pneumatic Control for End of Arm Tooling 1x 6 Pin 3.5A Connector - 3 Twisted Control Pairs Shielded Allows Electrical Control for End of Arm Tooling

����������������������������&��������� Custom Control Box Rack Mountable 3U Server Case • Laser Cut Back Plates for Panel • Mount Encoder/Power Connectors Two 120mm + Two 90mm 24V • Cooling Fans Controller Specifications Precise Automation Guidance 2000C • Four 20A + Two 10A Amplifiers • 2000 W Power Supply + 24VDC • Integrated Kinematics • Accessible Via Computer Web • Browser or Tablet

&����������������������� PID Loops for Each Axis • Joint to Motor Scaling Factors • Configuring a 6 Axis Robot w/ only 4 • Axes GPL Programming Environment •

� ������ Preliminary Test Results Deflection: 107 μm • Repeatability: � 15 μm • Cycle Time: ~ 2.3 seconds •

������ ������!!���������� $������%&������� '��(���������������� )���*��+� ������� ,!�&��%&�!������������ -�.%�%�/ ����0� �����%�!�-����+1��� ���0�� "�#�� ����� � ��������������������������� ����������������������������������� � ���'�� �$��()�*+,-,./

���������� Problems Encountered Welded Robot Arms • Internal Wire Routing • Cracked Base • Manufacturing and Shipping • Delays from Outside Vendors Solutions Bolted Arms w/ Alignment Pins • IGUS External Wire Routing •

�������������������& ����� Specific Application of IGUS Products for • External Wire Routing Make Assembly Easier-More Accessible • Consider Required Service Access • Consider Breakdown of Parts for Easy • Replacement

&��������� 4���& 2�3� �%���#%�*% & ��������� Project Outlook First year prototype is competitive with industry robots • Can be manufactured in quantity • Addition of 5 th /6 th Axes will provide fully functioning 6 Axis Articulated Arm • Experience gained and lessons learned to be passed on •

0�������� 5*��3���������'���������6+(%�������+��!!���*�����&�!�7���+����+�����1*�� *�!��+��������8�&����&&��+9�