Industrial Robotics BMFA 4493 ASSIGNMENT 2

GROUP MEMBERS
NORAIDAHBTE BLAR RASHIDAH BT JOHARI HASYIMAH BINTI RAZAK NUR SUFIAH AKMALA BT RAMDAN NURUL HAZWANI BINTI ZAKARIA JOSEPH RANGGA

1.To differentiate between mechanically closed loop and open loop robotic systems. 2.To conduct stress analysis on generic robot links. 3.To examine the selection of different cross sections fot the links.

Introduction
Serial Robot

A series of links connected by motor-actuated joints that extend from a base to an endeffector. Have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist. Have six joints, because it requires at least 6 degrees of freedom.

Parallel Robot

Uses several computer-controlled serial chains to support a single platform, or endeffector. Formed from six linear actuators that support a movable base for devices. End effector(or 'hand') of this linkage (or 'arm') is connected to its base by a number of (usually three or six) separate and independent linkages working in parallel.

Results
Serial Robot

Solid Round Rod

Material Young's modulus Poisson's ratio Density Iron 1.2e+011N_m2 0.291 7870kg_m3 1.21e-005_Kdeg 3.1e+008N_m2

Coefficient of thermal expansion

Yield strength

Solid Square Bar

Material Young's modulus Poisson's ratio Iron 1.2e+011N_m2 0.291

Density
Coefficient of thermal expansion Yield strength

7870kg_m3
1.21e-005_Kdeg 3.1e+008N_m2

Hollow Profile
Material Young's modulus Poisson's ratio Density Iron 1.2e+011N_m2 0.291 7870kg_m3

Coefficient of 1.21e-005_Kdeg thermal expansion Yield strength 3.1e+008N_m2

Hollow Square Profile

Material Young's modulus Poisson's ratio Density Coefficient of thermal expansion Iron 1.2e+011N_m2 0.291 7870kg_m3 1.21e-005_Kdeg

Yield strength

3.1e+008N_m2

PARALLEL ROBOT
Material Young's modulus Poisson's ratio Density
Coefficient of thermal expansion Yield strength

Iron 1.2e+011N_m2 0.291 7870kg_m3

1.21e-005_Kdeg 3.1e+008N_m2

Comparison between Serial Robot

Arm design Solid round Solid square

WMS 6.47e+003 4.9e+003

Hollow profile
Hollow square

3.06e+003
3.19e+003

Parallel less prone to positional error than serial robot because , lower mass/inertia properties, and higher structural rigidity (i.e. stiffness-to-mass ratio)

Simulation

Video

Conclusion
We can differentiate between mechanically closed loop and robotic systems open loop

Successfully conduct stress analysis generic robot links. Results show that the parallel robots more accurate than serial robots.

on

Can examined the selection of different cross sections