gantry robot

DESIGN OF SKIMMING ROBOT FOR INDIAN ZINC INDUSTRY : 

DESIGN OF SKIMMING ROBOT FOR INDIAN ZINC INDUSTRY B M NAMAZI S4 MTECH M.A.COLLEGE OF ENGINEERING KOTHAMANGALAM

CONTENTS OF PREVIOUS PRESENTATIONS : 

CONTENTS OF PREVIOUS PRESENTATIONS Robotics-introduction Introduction To Mechanical Systems Servo And Stepper Motors Sensors Basic Design Parameters New revised skimming operation-proposal Design of pneumatic cylinders Design of accessories for the pneumatic operations

CONTENTS OF TODAYS PRESENTATION : 

CONTENTS OF TODAYS PRESENTATION Robot selection Robot design parameters Gantry robot design

ROBOT SELECTION : 

ROBOT SELECTION Rectangular-Coordinated Cylindrical-coordinated Spherical-coordinated Jointed Arm -coordinated SCARA(Selective Compliance Assembly Robot Arm)

THE MOVEMENTS : 

THE MOVEMENTS X Axis Y Axis Z Axis

X AXIS MOVEMENTS-PARAMETERS : 

X AXIS MOVEMENTS-PARAMETERS Distance to be moved : 280mm Time allowed : 10 seconds Velocity : 0.028m/s Mass to be moved : 150 kg Drive : servo motor Mechanical : Rack and pinion

Y AXIS MOVEMENT-PARAMETERS : 

Y AXIS MOVEMENT-PARAMETERS Distance to be moved : 300mm Time allowed for the movement : 2 seconds Mass to be moved : 150 kgms Velocity : 0.015m/s Drive : servo motor Mechanical elements : Rack and Pinion

Z AXIS MOVEMENTS-PARAMETERS : 

Z AXIS MOVEMENTS-PARAMETERS Distance to be moved : 452mm Time allowed : 2 seconds Mass to be moved : 25 kgms Velocity : 0.226m/s Drive : servo motor Mechanical systems : Two racks and one pinion design

Z AXIS RACK AND PINION : 

Z AXIS RACK AND PINION Minimum no of teeth on pinion to avoid intereference in a rack and pinion system z :2K1/sin²α :18 (α =20 and K1=1 ) Taking the no of teeth to be 30(>18) Acceleration time : .5 seconds Acceleration due to gravity : 9.8m/s² Acceleration : 0.226/0.5 : 0.452m/s²

Z AXIS RACK AND PINION : 

Z AXIS RACK AND PINION Application force at rack (Fr):µMg+Ma+F 0.25X25X9.8+25X.452+1 :73.55N Application torque at pinion(Tp) :FrXd/2000 :73.55X60/2000 :2.2065 Nm Design torque(Td) :TpXS.F :2.2065X2 :4.413Nm Max rotational speed of pinion Np :VX19100/d :0.226X19100/60 :71.94 rpm

Z AXIS RACK AND PINION : 

Z AXIS RACK AND PINION T-rating for d 60mm and z 30 is 44Nm(for soft rack) (T-rating>Td) Length of the rack : 460mm No of racks : 2 Position of the rack : On the sides of a flat positioned pinion

Y AXIS RACK AND PINION : 

Y AXIS RACK AND PINION Minimum no of teeth on pinion to avoid intereference in a rack and pinion system z :2K1/sin²α :18 (α =20 and K1=1 ) Taking the no of teeth to be 30(>18) Acceleration time : 0.5 seconds Acceleration due to gravity : 9.8m/s² Acceleration : 0.15/0.5 : 0.3m/s²

Y AXIS RACK AND PINION : 

Y AXIS RACK AND PINION Application force at rack (Fr):Mg+Ma+F 150X9.8+150X.3+2 :1517N Application torque at pinion(Tp) :FrXd/2000 :1517X60/2000 :45.51 Nm Design torque(Td) :TpXS.F :45.51X2 :91.02Nm Max rotational speed of pinion Np :VX19100/d :0.150X19100/60 :47.75 rpm

Y AXIS RACK AND PINION : 

Y AXIS RACK AND PINION T-rating for d 60mm and z 30 is 195Nm(for hardened and ground rack) (T-rating>Td) Length of the rack : 450mm No of racks : 1

X AXIS RACK AND PINION : 

X AXIS RACK AND PINION Minimum no of teeth on pinion to avoid intereference in a rack and pinion system z :2K1/sin²α :18 (α =20 and K1=1 ) Taking the no of teeth to be 30(>18) Acceleration time : 0.5 seconds Acceleration due to gravity : 9.8m/s² Acceleration : 0.028/0.5 : 0.056m/s²

X AXIS RACK AND PINION : 

X AXIS RACK AND PINION Application force at rack (Fr):µMg+Ma+F 0.25X150X9.8+150X.056+2 :377.9N Application torque at pinion(Tp) :FrXd/2000 :377.9X60/2000 :11.337 Nm Design torque(Td) :TpXS.F :11.337X2 :22.674Nm Max rotational speed of pinion Np :VX19100/d :0.028X19100/60 :8.91 rpm

X AXIS RACK AND PINION : 

X AXIS RACK AND PINION T-rating for d 60mm and z 30 is 44Nm(for soft rack) (T-rating>Td) Length of the rack : 350mm No of racks : 1

CONCLUSION : 

CONCLUSION The design of the gantry robot is partly completed