Manufacturing Technology Today

Jagannath De ¹, Ranjit Ray ¹, Nimai Chandra Barai ¹, Subhasis Bhaumik ¹

Affiliations
1 Mechatronics & Robotics Laboratory, Department of Applied Mechanics, Bengal Engineering College (Deemed University), Howrah - 711 103, IN

Abstract

The paper depicts the justification, design simulation and control of a lightweight parallel manipulator for performing varieties of operations mainly machining operation. The motor actuated parallel robot can be put to perform task like milling, drilling and other machining operation as well as it can be used as an ideal table for contour milling, angular drilling. The stepper motor controlled parallel manipulator is designed on the basis of rigidity over a specified work volume. Forward and inverse kinematics and acceleration analysis of the Stewart Platform has been carried out. Two performance criteria like mechanism workspace and manipulability have been studied. The major design goals of providing flexibility, a substantial work envelop, the required six degrees of freedom, light weight, low cost, portability and easy to use to create profiles on contoured surfaces have been achieved through simulation.

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Nimal Chandra Barai ¹, Ranjit Ray ¹, Subhasis Bhaumik ¹

Affiliations
1 Robotics & Mechatronics Laboratory, Department of Applied Mechanics, Bengal Engineering College (Deemed University), Howrah-711103, West Bengal, IN

Abstract

Vision technology for robotics has broadened the capabilities of robotic vision system to allow for vision based guidance of the robot arm, complex inspection for close dimensional tolerances, and improved recognition and part location capabilities. The objective of the present work is to develop logic and enhance user friendly programmability for pattern recognition and feature extraction of the objects for manipulative task and design and development of a low cost stepper motor controlled manipulator for pick and place operation. A PC based general purpose image processing system has been employed for pattern matching, alignment, gauging, blob analysis, inspection, identification, object location, object recognition and feature extraction purposes. The mobile manipulator has been designed and fabricated for using in material handling application. The robot links are moved by the individual stepper motors which are placed at every joint for link rotation and also tool pitch and toot roll. The pulses are sent to stepper motors through a PC based controller. The jobs are moving on a belt conveyer whose speed is controlled through DC motors.

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