A Six Degree of Freedom Robotic Manipulator

Introduction
The Robotic Manipulator Arm extends the flexibility

of workstations by transporting material more efficiently and

quickly between worktable, peripheral devices and assembly
lines etc.
A sub class of more general family of Robots, the Industrial
Robots
An industrial robot is officially defined by ISO[1] as
an automatically controlled, reprogrammable, multipurpose
manipulator programmable in three or more axes.
Despite its numerous possible usages, it finds most widespread
usage in manufacturing industry.
Typical applications of robots include welding, painting,
assembly, pick and place, packaging and palletizing, product
inspection, and testing, all accomplished with high endurance,
speed, and precision.

Basic Unit: Kinematic Configuration

Components of Hydraulic Actuation

Systems
1.Hydraulic Fluid:
The fluid used is 40W oil reads as 40 weight oil. It has high
viscosity which maintains a lubricating film between
moving parts. This also reduces friction loss and cools the
components.
2.Line:
Pipe and tubes along with the fittings or connectors,
constitute the conducting lines that carry hydraulic fluid
between components.

3.Hydraulic Pump:
The pump used here is gear pump. A gear pump develops

flow by carrying fluid between the teeth of two meshed

gears. One gear is driven by the drive shaft and turns the
other, which is free. The pumping chambers formed
between the gear teeth are enclosed by the pump housing
and the side plates. A low pressure region is created at the
inlet as the gear teeth separate.

Cylinders:
Single Acting Cylinder: It has only one fluid chamber

and exerts force in only one direction. When mounted

vertically, they often retract by the force of gravity on
the load.
Double-Acting Cylinder: The double-acting cylinder
is operated by hydraulic fluid in both directions and is
capable of a power stroke either way.

4. Valve:
A valve is a device that regulates the flow of a fluid by

opening, closing, or partially obstructing various

passageways.

3/2 valve:
Actuator

From Pump

To Sump

Truth Table:
A
(Actuator)

B
(Pump)

C
(Sump)

Forward

Backward

Hold

4/2 valve:

Actuator (Before Piston)

I1

E1

Pump

Sump

Actuator (After Piston)

I2

E2

Truth Table:
I1

E1

I2

E2

Forward
Stroke

Backward
Stroke

Hold state

Scope For Future Work

Incorporate driver board circuits for giving power for

driving the system.

Introduce a suitable filter into the hydraulic circuit.
Incorporate safety circuits to save future damage to the
circuit.
Repair, lubricate & replace mechanical components at the
joint level to reduce friction. Expand workspace if possible.
Devise a sensor-actuator configuration to implement a
feedback mechanism
Develop a program for microprocessor based control of the
robotic arm to implement full autonomous action.