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

Phase 1 of Articulated Arm 6-Axis Robot

Cory Nann

Mechanical

Kris Magri

Mechatronic

Cole Christensen

Mechatronic

Michael Tomin

Mechanical

Joshua Dugo

Mechatronic

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 Repeatability ±500 m Deflection < 50 m Power Source 120 VAC Must be Aesthetically Pleasing

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

• Designed In Solidworks
• Machined from 6061-T6 Aluminum
• Complex Geometry Performed on

5 Axis CNC by Micro-Vu (Thanks!)

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

• Axis

Gear ratio Backlash (arc- min) Peak Torque of motor (Nm) Peak Torque at Output (Nm) Speed of motor (rpm) Output Speed of 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

Axis Calculated Moment Load [Nm] Allowable Moment Load [Nm] Thrust Load [N] Factor of Safety 1 135 882 400 6.5 2 23 882 150 38.3 3 14 195 250 13.9

Nabtesco Gearhead Bearing Loading

Axis Allowable Radial Load [N] Allowable Axial Load [N] Calculated Radial Load [N] Calculated Axial Load [N] 4 550 1200 530 370

Neugart Gearhead Bearing Loading

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

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

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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

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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 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

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• 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

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• 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

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• 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

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Project Outlook

• First year prototype is competitive with industry robots
• Can be manufactured in quantity
• Addition of 5th/6th Axes will provide fully functioning 6 Axis Articulated Arm
• Experience gained and lessons learned to be passed on

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