pick & place robotic arm

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MAJOR PROJECT REPORT Page 1 --- PREFACE ---

We glad to make this project PICK AND PLACE ROBOTIC ARM BY PNEUMATIC CONTROL and now we make this project report. In this project report we

include about our project, objective of project, lists of project activities etc…

Doing this project we have a great experience and we get knowledge about pneumatic system. These all experience and knowledge we are going to share by our project report.

During work on this project we met many technical problems. These technical problems are solved by our Sir Mr. Dushyant D. Patel and Mr. Manoj N.

Patel. They are very helpful for us in this project so we are very thankful our sirs.

THANKS PATEL SIDDHARTH K. PATEL UNIK B. PATEL SAMEER L. PATEL RIKIN H. PATIL GHANSHYAM D. PRAJAPATI TUSHAR P.

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MAJOR PROJECT REPORT Page 2 --- OBJECTIVE OF PROJECT ---

The course aim can be achieved by designing suitable learning experience in classroom, laboratory etc. but threw the project work the following aim could be achieved.

1. To developing planning, designing and manufacturing. 2. To develop the term work.

3. To provide inter disciplinary. 4. To develop higher level skill.

5. To develop the spirit of term work and practical knowledge.

We have a chance for Appling our whole of the knowledge obtained during diploma program. We have been thought many things like feasibility study, designing, drafting, production planning and control, costing, practical approach for manufacturing process, and the most important term work.

P Planning before carrying out the work. R Raw material required for the work. O Organization of the work.

J Joint effort put together in the work.

E Estimation of the material required in the work. C Costing of the work.

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MAJOR PROJECT REPORT Page 3 --- SELECTION AND DESCEPTION OF PROJECT ---

First of all, we think over many project like Solar Water Heater, Screw Jack, Boom Lifter , Robotic Arm By Hydraulic Control then after we are selected the PICK AND PLACE ROBOTIC ARM BY PNEUMATIC CONTROL.

In the choice of location for PICK AND PLACE ROBOTIC ARM BY PNEUMATIC CONTROL, Several Component may be involved like compressor, electric low rpm motor, rack and pinion, pneumatic piston and cylinder and many others. There is no easy answer to the question rose, which is suitable site for PICK AND PLACE ROBOTIC ARM BY PNUMETIC CONTROL? The only solution is to study several alternatives layouts and adopt one which appears to be most economical.

Some time the most desirable location is apparent to an experienced engineer. Sometimes there is no choice for site expect considerable investigation and study are required to determine the most economically location.

The purpose of preliminary investigation is to provide sufficient information to find out the practicability of the proposed scheme and to choose between alternations can be prepared and recommendation is made reasonable confidence.

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MAJOR PROJECT REPORT Page 4 --- WORKING OF PROJECT ---

This project has sample work. Its work is to pick object or work-piece at one site and to place that object or work-piece another site.

In figure showing PICK AND PLACE ROBOTIC ARM BY PNEUMATIC CONTROL. Its working steps as under below:

1. Compressed air comes from the compressor.

2. By using air controlling manual valve air comes in cylinder which is located between column and arm and arm rise up by presser of cylinder’s piston.

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MAJOR PROJECT REPORT Page 5

4. By losing air in cylinder which one placed in arm opens jaws by using rack and pinion mechanism.

5. Arm become down to object by losing air in cylinder.

6. Object comes between two jaws.

7. By increasing presser in cylinder jaws close and object pick in jaws.

8. Arm rise up by column’s cylinder.

9. Whole assemblies rotate by low RPM motor at right place.

10. Arm become down to place object at right place by using above processes.

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MAJOR PROJECT REPORT Page 6 --- LISTS OF ACTIVITES OF PROJECT ---

Selecting this project PICK AND PLACE ROBOTIC ARM BY PNUMETIC CONTROL, there are many project activities we find. There are all activities lists as below:

 To make design of project.

 To decide which of material use for our project is better, economical and easier to get.

 To study about pneumatic system and how use it in our project.

 To do market survey about pneumatic system and which place we get it.

 To make arm as per project design by use of wood as raw material.

 As per project design make column by use of wood as raw material.

 To buy pneumatic cylinder as per project design and set it in arm and column.

 To buy all pneumatic systems to control pneumatic cylinder.

 To decide which type of motor use in project to give rotary motions it.

 To buy selected motor and fit in project assembly.

 To connect pneumatic system in cylinder.

 It is connected with air compressor.

 To make project report and collection about all details of project.

 To make assembly and details drawing of main component this is used in project.

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MAJOR PROJECT REPORT Page 7 --- WORK ALLOCATION OF PROJECT ---

This project PICK AND PLACE ROBOTIC ARM BY PNUMETIC CONTROL is made by team work. In this project lots of activities and works so that we have to go for work allocation. In work allocation we divide all works and activities in same load for everyone. Here it is shows work allocation of project as under below:

 PROJECT MAKING

 PROJECT REPORT MAKING

Here we divide whole work in two part which shows above. Each part there is three member of our team. In project making Patel Siddharth , Patel Unik and Patel Sameer are members. In project report making Patil Ghanashyam , Patel Rikin and Prajapati Tushar are members.

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MAJOR PROJECT REPORT Page 8 --- PART DETAILS OF PROJECT ---

In this project becomes by using many parts. Each parts has own specification and dimension. Here we are going to list each parts and it’s specification in details. Here also mention each parts 2D and 3D drawing.

 ARM :-

ARM is main part in this project which cover pick of object mechanism. Here we have its 3D drawing as below:

Above showing 3D drawing of arm. Here in project arm use for cover pneumatic cylinder and mechanism of picking of object. It is made from

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wood. It is reset on column. Arm’s design showing in 2D drawing which are all dimensions is in mm. SPECIFICATION:- SIZE : L = 460 MM, B = 45 MM, H = 57 MM, HOLE = Ø 6 mm  MATERIAL : Wood  PROCESSES : Cutting Finishing Drilling  NO. OF PARTS REQD

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 COLUMN:-

Column is part of project which support arm to rise or to become down by using column’s pneumatic cylinder. Column also cover pneumatic cylinder which helps arm rise or become down. It is made from wood. Column reset on low RPM motor which gives column rotation motion. Here is showing 3D drawing of column as below:

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MAJOR PROJECT REPORT Page 11 SPECIFICATION:- SIZE : L = 460 mm, B = 145 mm, H = 104 mm HOLE = Ø 06 mm  MATERIAL : Wood  PROCESSES : Cutting Finishing Drilling  NO. OF PARTS REQD

: 1 Its 2D drawing is as under below:

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 PNEUMATIC CYLINDER:-

This project works on pneumatic cylinder because concept of project is using pneumatic systems we have to pick object and to place object. It is work by compressed air which comes from air compressor. There is many type of pneumatic cylinder but here we use two way type pneumatic cylinders its photo showing below figure:

In two way pneumatic cylinder compressed air comes in first way then cylinder’s piston comes out side after sometime air comes in second

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way then piston comes in cylinder. This air flows control by manual two way valve. Now it’s 3D drawing showing in this figure:

SPECIFICATION:- CYLIDNER SIZE : L = 154 mm, Ø = mm, HOLE = Ø 08 mm  PISTON SIZE : L = 80 mm, Ø = 08 mm.  NO. OF PARTS REQD

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Here we shows its 2D drawing which is all dimensions in mm as under below:

 RAKE AND PINION:-

In this project we use rake and pinion as mechanism of pick object. By this mechanism we can pick object. This mechanism works by help of arm’s cylinder. Air comes in cylinder piston comes out where rake is connected with piston so rake go forward that sway pinion rotate where is two jaws connected with pinion which is becomes close. This way object pick in fixed jaws which is fixed in arm. Its mechanism shows in figure:

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Rake is slab which has one side “v” type groves. It is mash in pinion’s teeth. Rake’s liner motion converts into rotary motion by pinion. Here rake’s 3D figure shows:

SPECIFICATION:- RAKE SIZE : L = 140 mm, B = 26 mm, H = 12 mm.  TOTAL TEETH : 22  MATERIAL : NYLON

 NO. OF PARTS REQD

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Its size in this project is showing in 2D figure which is shows as below:

Pinion is just like gear it is amoung of type of gear. Its 3D figure showing as below:

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SPECIFICATION:- PINION SIZE : Ø I.D = 40 mm, Ø O.D = 42 mm, Thickness = 12 mm Hole = Ø 10 mm.  TOTAL TEETH : 22  MATERIAL : Acrylic

 NO. OF PARTS REQD

: 1

It is only one part use in this project. It is made from acrylic. It 2D figure showing as below:

 JAW:-

Jaw is used for holding object. There are four jaws used in this project. Two are fixed in arm and other two connectd with pinion. Object is

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hold between fixed jaws and moving jaws which is figur showing as below:

Jaws are made from m.s. material. It is strait piece but its bend on press machine. It is operation showing in below figure:

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Here we show its 3D figure. In it shows that after bending operation it how to look? SPECIFICATION:- JAW SIZE : L = 160 mm, B = 12 mm, Thickness = 12 mm  MATERIAL : M.S.  NO. OF PARTS REQD

: 4 Now here its 2D figure shows below:

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MAJOR PROJECT REPORT Page 20  PNEUMATIC MANUAL CONTROL

Pneumatic cylinders are controlled by this pneumatic manual control valve. In this valve there is one lever, two ways for air out and one way for air inlet from compressor. Its photo showing below:

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MAJOR PROJECT REPORT Page 21 --- MAKE OR BUY DECISION OF PROJECT ---

Material, labour and other expenses plus different types of overhead expenses are incurred for manufacturing the product. For manufacturing the product workshop machinery, tools, instruments and other facilities are used. To create such facilities industry has to provide investment. It is necessary to produce good quality of products in sufficient quantity, by providing close supervision to the production activities. The services or use of instruments, laboratory equipments and inspectors for quality control work also demands investment and expenses. When different types of facilities and services are required for producing different parts of a product to be manufactured. Then capital investment and no. of manpower required in an industry are increases. This gives rise to the overhead cost which in turn results into increased cost of production but produced product if available in market its price is lower or same as our product, we have to go for buy that product in place of producing it. The different advantages of purchasing readymade parts are as follows:

► No responsibility of rejection of part. ► Capital investment reduces.

► No problem of wastage of materials.

► No. of workers & labour problem are reduces. ► Parts of required quality can be obtained. ► Timely purchasing of parts can be done.

► It becomes easy to meet the production target. Here we show make or buy decision by below table:

SR.NO. NAME OF PART MAKE BUY

1. ARM YES NO

2. COLUMAN YES NO

3. PNEUMATIC CYLINDERS NO YES

4. PNEUMATIC MANUAL VALVES NO YES

5. RAKE AND PINION YES NO

6. LOW RPM MOTOR NO YES

7. JAWS YES NO

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MAJOR PROJECT REPORT Page 22 --- FLOW PROCESS CHARTS OF PROJECT ---

In this topic we describe flow process charts of component which is use to make project and we decide to make it. Flow process charts show that component how to become raw material to real products. Here we show flow process chats of arm:

CHART NO; SHEET NO; 1 SUMMARY

PRODUCT/MAN/MATERIAL ACTIVITY PRESENT PROSPOSED SAVING

ACTIVITY= ARM MAKING OPERATIUON 4

MANUFACTURING TRANSPORT 2

IN POLY. WORKSHOP DELAY 0

METHOD;PRESENT/PROPOSED INSPECTION 4

LOCATION: WORKSHOP STORE 2

OPERATORS DISTANCE MTR

CLOCK NO. TIME MIN

CHARTED BY: M.N.PATEL LABOUR COST

APPROVED BY: M.N.PATEL MATERIAL COST

DATE:- 24/2/2011 TO 01/03/11 TOTAL

SR. NO.

DESCRIPTION QTY. DIST. TIME REMARKS

1. Wood as raw material in store 1

_

2. Go to carpentry shop



3. Cutting required size 2



4. Inspection 2

_

5. Marking drilling place 4

_

6. Go to drilling m/c



7. Drilling marking area 4



8. Inspection hole 4

_

9. Finishing hole and cutting sides

2



10. Joint parts as per drawing

2



11. Inspection arm 1

_

12. Go to store 1

_

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Now here we show flow process chart of column as below:

ACTIVITY= COLUMN MAKING OPERATIUON 4

IN POLY. WORKSHOP DELAY 0

DATE:- 24/2/2011 TO 01/03/11 TOTAL

SR. NO.

1. Wood as raw material in store 1

_

2. Go to carpentry shop



4. Inspection 2

_

5. Marking drilling place 4

_



7. Drilling marking area 4



8. Inspection hole 4

_

9. Finishing hole and cutting sides

2



10. Joint parts as per drawing

2



11. Inspection arm 1

_

12. Go to store 1

_

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Here we show flow process chart of rake as below:

ACTIVITY= RAKE MAKING OPERATIUON 4

IN UMIYA ENTRPRISE DELAY 0

DATE:- 17/03/2011 TOTAL

SR. NO.

1. Nylon as raw material in store 1

_

2. Go to metal cutting m/c



4. Inspection 1

_

5. Go to milling m/c



6. Making “V” type grove on milling m/c 22



7. Inspection 1

_

8. Finishing “V” type grove 22



10. Drilling one side 1



11. Inspection 1

_

12. Go to store 1

_

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Here we show flow process chart of pinion as below:

ACTIVITY= PINION MAKING OPERATIUON 4

DATE:- 18/03/2011 TOTAL

SR. NO.

1. Acrylic bar as raw material in store 1

_



4. Inspection 4

_

5. Go to press m/c



6. Making “j” type carve on press m/c 4



7. Inspection 4

_

8. Finishing 4



10. Drilling 4



11. Inspection 1

_

12. Go to store 1

_

Total 4 3 3 2

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Here we show flow process chart of jaws as below:

ACTIVITY= JAWS MAKING OPERATIUON 4

DATE:- 18/03/2011 TOTAL

SR. NO.

1. M.S. plat as raw material in store 1

_



4. Inspection 1

_

5. Go to milling m/c



6. Making “V” type grove on milling m/c 22



7. Inspection 1

_

8. Finishing “V” type grove 22



10. Drilling pinion center 1



11. Inspection 1

_

12. Go to store 1

_

Total 4 3 3 2

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MAJOR PROJECT REPORT Page 27 --- DETAILS OF INSPECTION / TESTING OF PROJECT ---

After making all component of project we inspection all component and its specification or parameters as per drawing. We assemble all component make assembly of project. To test this project working we connected project with air compressor by use of pneumatic connecter. When we started air compressor, we just become so eager to see our project working. We opened air compressor valves and air comes in pipe. By manual pneumatic valve air comes in cylinder and our project works successfully but there is one problem that is cylinders works so fast and powerful so by using silence in manual valves we reduces pressure of air.

Doing above works our project works smoothly. It can pick bottles, brick and box which weight is not greater than 4 kilograms because in this project we use low RPM motor to give rotation motion project. It is capacity 7 kilograms to take load and project assembly weight 3 kilograms.

To test and inspect our project we find our hard works in great satisfaction and we are so happy to see working of project.

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MAJOR PROJECT REPORT Page 28 --- COST ESTIMATION OF PROJECT ---

In this project three types of cost we calculate for this project costing. There are material cost, labour cost and other overheads. Here we show project cost in details as below:

 MATERIAL COST:-

There are those materials which when operated or processed in the factory shop through various stages from the final useful shape of main products of component part. These are known as “Productive Material“. Its cost is known as material cost. Here we have three type of direct material cost.

1. Pneumatic system’s material cost 2. Raw material of wood cost

3. Other material cost

 PNEUMATIC SYSTEM’S MATRIAL COST:-

SR. NO.

NAME OF PART QTY. EACH

RATE

TOTAL RATE 1. Pneumatic Cylinders 2 650 1300

2. Pneumatic manual valves 2 470 940

3. Cylinders connecters 4 26 104

4. Manual valves connecters 6 26 156

5. Cylinder to valve connecter P.V. pipe 4m 22 88 6. Silencer 8 65 520 7. Hose tee 1 60 60 8. Hose pipe 2m 40 80 9. Hose collar 2 26 52 10. Hose clamp 10 20 200 TOTAL 3500 RS.

 RAW MATERIAL OF WOOD COST:-

SR. NO

NAME OF PART QTY. EACH

RATE

TOTAL RATE 1. Sag wood plat 2 150 300

2. Plywood plat 1 70 70

TOTAL 370 RS.

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MAJOR PROJECT REPORT Page 29  OTHER MATERIAL COST:-

SR.NO NAME OF PART QTY. EACH

RATE TOTAL RATE 1. Low RRP motor 1 725 725 2. Nets 15 1 15 3. Bolts 30 1 30 4. Bearing 1 30 30 5. Pleat 2 10 20 6. Round bar 2 10 20 7. Jaws 4 10 40 TOTAL 880 RS.

 TOTAL MATERIAL COST = P.M.C + W.M.C + O.M.C

= 3500 + 370 + 880

=

4750 RS.

 LABOR COST:-

Here in this project some labour cost calculate on product which one produced in industry. There is as below:

 RAKE AND PINION’S LABOUR COST:-

SR. NO. WORKING LABOUR HOURS COST RATE/ HOURS TOTAL COST 1. Cutting material 15 min 24 6

2. Milling rake 1.30 40 60

3. Milling pinion 1.45 40 70

4. Drilling 15 min 40 10

5. Finishing 15 min 16 4

TOTAL 150 RS.

 JAWS LABOUR COST:-

SR. NO. WORKING LABOUR HOURS COST RATE/ HOURS TOTAL COST 1. Cutting material 1 24 24 2. Bending 1 76 76 3. Grinding 10 min 60 10 TOTAL 110 RS.

 TOTAL LABOUR COST = R.P.L.C + J.L.C

= 150 + 110 =

260 RS.

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 TOTAL COST CALCULATION:-

A. PRIME COST:- Material cost = 4750.00 Labour cost = 260.00 Total cost = 5010.00 B. FACTORY COST:- Prime cost = 5010.00 Factory overhead = 250.50 (5% of prime cost) Total cost = 5260.50 C. OFFICES COST:- Factory cost = 5260.50 Administrative O.H. = 526.05 (10% of factory cost) Total cost = 5786.55 D. PROFIT:- 15% of offices cost = 867.98 = 868.00 E. SELLING PRICE:- Offices cost = 5786.55 Profit = 868.00 Total cost = 6654.55 F. DISCOUNT:- 2.5% of selling price = 166.36 G. CATALOUGE COST:- Selling price = 6654.55 Discount = 166.36

Total cost = 6820.91 = 6821 RS.

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MAJOR PROJECT REPORT Page 31 --- CONCLUSION ---

After completing this project PICK AND PLACE ROBOTIC ARM BY PNEUMATIC CONTROL we know that our project can pick object like bottle, brick and box which weight is not greater than 4 kilograms because in this project we use low RPM motor to give rotation motion project. It is capacity 7 kilograms to take load and project assembly weight 3 kilograms.

Working on this project, right from the point of the selection to testing of the project was real fun and great expiration. The exercise provided as a lot of insight into the various pneumatic systems, the selection of the appropriate material for different components and make or buy decision, especially for designing this project. We studied how to use and control pneumatic systems in various industries.

Seeing the project in working successfully we are very happy and satisfied.

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MAJOR PROJECT REPORT Page 32 --- MOMENTS AT WORK PHOTOGRAPHS ---