UNIVERSITI TEKNIKAL MALAYSIA MELAKA Conceptual and Mechanical Design of Master- Slave Robot for Painting Application Thesis submitted in accordance with the partial requirements of the Universiti Teknikal Malaysia Melaka for the Bachelor of Manufacturing Engineering (Manufacturing Robotic and Automation) By Hairul Anuar bin Mohd Yusof B050310006 Faculty of Manufacturing Engineering April 2007
24
Embed
UNIVERSITI TEKNIKAL MALAYSIA MELAKAeprints.utem.edu.my/10386/1/Copceptual_And_Mechanical...UNIVERSITI TEKNIKAL MALAYSIA MELAKA Conceptual and Mechanical Design of Master-Slave Robot
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
Conceptual and Mechanical Design of Master-
Slave Robot for Painting Application
Thesis submitted in accordance with the partial requirements of the
Universiti Teknikal Malaysia Melaka for the
Bachelor of Manufacturing Engineering (Manufacturing Robotic and Automation)
SESI PENGAJIAN : _______________________ Saya ________________________________________________mengaku membenarkan tesis (Sarjana Muda/Sarjana/Doktor Falsafah) ini disimpan di Perpustakaan Universiti Teknikal Malaysia Melaka (UTeM) dengan Syarat-syarat kegunaan seperti berikut:
1. Tesis adalah hak milik Universiti Teknikal Malaysia Melaka. 2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan untuk
tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran antara
institusi pengajian tinggi. **Sila tandakan (X)
BORANG PENGESAHAN STATUS TESIS*
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
i
APPROVAL
This thesis submitted to the senate of UTeM and has been accepted as partial fulfillment
of the requirements for the degree of Bachelor of Manufacturing Engineering
(Manufacturing Robotic and Automation). The members of the supervisory committee
are as follow:
………………………………………….
Main Supervisor
En Mohd Samsi bin Saad
Faculty of Manufacturing Engineering
(Official Stamp & Date)
……………………………………………
Second Supervisor
En.
(Official Stamp & Date)
ii
DECLARATION
I hereby, declare this thesis entitled “Mechanical Design for master slave
(parent-child) robot for painting application” is the result of my own research
except as cited in the references.
Signature : ………………………………………….
Author’s Name : ………………………………………….
Date : ………………………………………….
iii
DEDICATION
For my beloved mother and father.
iv
ACKNOWLEDGEMENTS
The contributions of En Mohd Samsi bin Saad, of the UNIVERSITI TEKNIKAL
MALAYSIA MELAKA (UTeM) merits special acknowledgment for this excellent and
careful review of the entire text and project. En Mohd Samsi has inspected the structure
of every sentence and where necessary, has made modifications so that the project is
clear, direct, concise, and friendly. He has carefully modified the heading structure of
every sentence in order to make the text more easily readable and reorganized the
project section especially my part of this project so that the student can efficiently
survey what has be presented. En Samsi has worked under a number of constraints and
has done so in a friendly and timely manner.
Special recognition is again due to my friend, formerly of Robotic and Automation, for
them continuing contribution in the form of invaluable suggestions and accurate idea
and checking of this project. In addition to these individual, I wishes to thank the
members that who responded to a questionnaire concerning these project. Also thanks to
UTeM staff especially Manufacturing Department that given approval to this project.
Finally, I wish to state the extremely significant contribution of my family in addition to
providing patience and support for this project. I am extremely pleased to continue in
next semester to build the project successful. In the interest of providing in any with the
best possible educational materials over other semester, I encourage and welcome all
comments and suggestions.
v
ABSTRACT
In 1920, robotic be found when Czechoslovakian playwright Karel Capek introduces the
word robot in the play R.U.R. - Rossum's Universal Robots. The word comes from the
Czech robota, which means tedious labor. In 1938, the first programmable paint-
spraying mechanism is designed by Americans Willard Pollard and Harold Roselund for
the DeVilbiss Company. In 1951, in France, Raymond Goertz designs the first tele-
operated articulated arm for the Atomic Energy Commission. The design is based
entirely on mechanical coupling between the master and slave arms (using steel cables
and pulleys). Derivatives of this design are still seen in places where handling of small
nuclear samples is required. This is generally regarded as the major milestone in force
feedback technology. The main function of a master slave arm for a painting application
is to paint some part that difficult to paint. Why robot arm are useful for painting is
because the painting itself can be hazardous for human. The design of the arm robot can
paint some other part by using arm robot and controlled by using master arm robot.
Every movement can be controlled by master arm robot. Effectiveness of the proposed
method is confirmed by experiments using a developed three-axis master-slave arm
system. In this project, it was specially focused and involves in Conceptual and
Mechanical design of Master Slave Robot for Painting Application that to design and
choose the best of arm robot that will be build for prototyped. The proposed arm master
system consists of a self-contained computing hardware with a potential motors at each
arm joints. The purpose of this master unit is to measure the angular position of the
joints of the user’s arm. These angular positions are transmitted, as voltages, to the
transducer interface. For Slave Robot, the mechanical arm can cover a range of human
arm movements. The complexity of the human arm makes any attempt to mimic.