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This document appears to be a laboratory manual for a Robotics lab course. It contains: 1) An index listing 3 experiments conducted between June 10-14, 2020 on virtual robotic modeling, gripper design/analysis, and forward kinematics programming. 2) Details and theory on experiment 7 involving virtual modeling of a robotic structure using suitable software. 3) Details and theory on experiment 8 explaining different types of grippers - vacuum, pneumatic, hydraulic, and servo-electric - and their uses. 4) Details and theory on experiment 9 regarding programming forward kinematics problems for a 2-DOF manipulator.

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Śandeep Ķumar Šingh
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102 views

Submitted By:-Guided By

This document appears to be a laboratory manual for a Robotics lab course. It contains: 1) An index listing 3 experiments conducted between June 10-14, 2020 on virtual robotic modeling, gripper design/analysis, and forward kinematics programming. 2) Details and theory on experiment 7 involving virtual modeling of a robotic structure using suitable software. 3) Details and theory on experiment 8 explaining different types of grippers - vacuum, pneumatic, hydraulic, and servo-electric - and their uses. 4) Details and theory on experiment 9 regarding programming forward kinematics problems for a 2-DOF manipulator.

Uploaded by

Śandeep Ķumar Šingh
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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( A CONSTITUTE COLLEGE OF CSVTU BHILAI C.G.

2019 - 2020
DEPARTMENT OF MECHANICAL ENGINEERING

LABORATORY MANUAL

SUBJECT: ROBOTICS LAB

SUBMITTED BY :- GUIDED BY :-
NAME :- sandeep kumar singh MRS. POONAM DIWAN
SEMESTER - 8TH (ASST.
PROFESSOR)
Roll no. – 59255 DEPT. OF MECH. ENGG.
E.no. – MEC16R0037 VEC LAKHANPUR
INDEX
Serial Name of Experiment Page Date of Date of Remarks
no. no. Experiment Submission

7. Virtual modeling for 10-06-2020 14-06-2020


kinematic and
dynamic verification
any
one robotic
structure using
suitable software.
8. Design, modeling 10-06-2020 14-06-2020
and analysis of two
different types of
grippers.
9. Programming for 10-06-2020 14-06-2020
Forward Kinematics
problems.

EXPERIMENT NO. :- 7
AIM :- To study virtual modeling for kinematic and dynamic
verification any one robotic structure using suitable software.

THEORY :-

EXPERIMENT NO. :- 8
AIM :- To study about different types of grippers.
THEORY :-
GRIPPERS DEFINITION :- Robot grippers are the
physical interface between a robot arm and the work piece.
This end-of-arm tooling (EOAT) is one of the most important
parts of the robot. One of the many benefits of material
handling robots is the reduction of part damage. A gripper
comes in direct contact with your product, so it's important to
choose the right type of gripper for your operation.
This is the piece of the robotic parts handler or assembler that
physically interacts with the environment. While many factors
may be blamed for the common failures of workcells, the
culprit is very often the grippers. Well designed grippers can
increase throughput, improve system reliability, compensate
for robot inaccuracy, and perform value added functions to the
assembly.

There are four types of robotic grippers :-


1. Vacuum grippers
2. Pneumatic grippers
3. Hydraulic grippers
4. Servo-electric grippers.

 VACCUM GRIPPERS :-
Vacuum grippers are used in
the robots for grasping the non ferrous objects. It
uses vacuum cups as the gripping device, which is also
commonly known as suction cups. This type of grippers
will provide good handling if the objects are smooth, flat,
and clean. It has only one surface for gripping the
objects. Most importantly, it is not best suitable for
handling the objects with holes.

 Vacuum
grippers
are highly
useful in
the heavy
industries,

automobiles, compact disc manufacturing, and more


for material handling purposes.
 It is also used in the tray & box manufacturing,
labeling, sealing, bottling, and so on
for packaging purposes.

 PNEUMATIC GRIPPERS :-
The pneumatic gripper
is popular due to its compact size and light weight. It
can easily be incorporated into tight spaces, which can
be helpful in the manufacturing industry. Pneumatic
robot grippers can either be opened or closed, earning
them the nickname “bang bang” actuators, because of
the noise created when the metal-on-metal gripper
operates.

 HYDRAULIC GRIPPERS :-
The hydraulic gripper
provides the most strength and is often used for
applications that require significant amounts of force.
These robotic grippers generate their strength from
pumps that can provide up to 2000psi. Although they
are strong, hydraulic grippers are messier than other
grippers due to the oil used in the pumps. They also
may need more maintenance due the gripper being
damaged because of the force used during the
application.

 SERVO – ELECTRIC GRIPPERS :-


The servo-electric gripper
appears more and more in industrial settings, due to
the fact that it is easy to control. Electronic motors
control the movement of the gripper jaws. These
grippers are highly flexible and allow for different
material tolerances when handling parts. Servo-electric
grippers are also cost effective because they are clean
and have no air lines.
EXPERIMENT NO. :- 9

AIM :- To study Programming for Forward Kinematics


problems.

THEORY :-
FORWARD KINEMATICS :-

A robotic manipulator is designed to


perform a task in the 3D space. The end effector or tool is required to follow
a planned trajectory to manipulate objects or carry out the task in the
workpace.

Kinematic models describes the spatial positions of joints and links ,


and position and orientation of the end effector. The derivatives of
kinematics deals with the mechanics of motion without considering the
force that causes it.

PROGRAMMING FOR FORWARD KINEMATICS


PROBLEMS :-
 Obtain the position and orientation of the tool point P with
repect to the base for the 2-DOF,RP planer manipulator as
shown below :
The transformation matrix are :
T1(ϴ1) =

Jkigiyf

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