Design and Development of Multipurpose Robot.

1. INTRODUCTION

Robotics has arisen as one of the rapid developing engineering fields in current
day technology and in enormous part used in industrial sector to perform a
wide collection of works. Robots are intended to dispose of people involvement
in labor-intensive and risky work environment. Additionally, robots might be
used in remote working environment that is blocked off to people. Confronting
the shortage of a particular antiviral treatment, it is important to grow new
methods for counteraction and to guarantee that the current ones are effective
as per the field circumstance. The point of this investigation is to design and
build up multipurpose robot innovation. This project is to fabricate a robot that
will help in industrial services. It can also detect obstacle and fire help in
avoiding of the accidents. A camera is use in the robot where in it will show the
recordings or depictions taken while travelling onto wireless control.

This robot must move in any plane surface conditions in industry. With the
advancement and development of wireless and Internet communications,
videos captured by this robot can be viewed remotely on any mobile. The
unskilled operator is enough to operate this robot. In recent years, robotics has
been one of the most developing fields of modern robotics. During the past
decades, there has been a lot of interest in the development of effective and
more comprehensive industrial robotic system. This multipurpose robot will
review for cost, advantage, and comfortability of application in future. In this
project, “multipurpose robot” is designed in such a way that it is fully
automatic in terms of operation and capable enough to make decisions on basis
of result of various sensors that are used in this robot. Furthermore, industrial
material handling, Surveillance, obstacle detection & fire detection application
will attach to the developed robot to fulfill the requirement of industrial
application.

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1.1.Problem Definitions:

1. The point of this project is to design and develop of multipurpose system

for industrial working using robotics technology.
2. With the development of world, the technology is enhanced day by day
with the realistic projects and efficient work towards by developing of
robots. This project presents multipurpose functionalities of wireless
robots’ application.
3. In today’s world where time is money, material handling has been
viewed as time-consuming task. Many initiatives were taken towards
building of automatic multipurpose industrial robot.
4. Material handling is done in many industries manually using workers in
earlier days. Hence the traditional material handling should be replaced
by automated robots, where the system will work according to the
guidance using battery as a power source.
5. The presented system has ability to do multipurpose operations with less
time consuming with less human operation.

1.2. Objectives:

1) To design & development of automatic remote operated multipurpose

robot.
2) To develop automatic multipurpose robot for avoiding human contact
during material handling purpose in industry.
3) To make an automatic robotic vehicle for surveillance applications in
industry.
4) To make a robot for reducing efforts during material handling.
5) To make an automatic obstacle & fire detection robotic vehicle for
industrial use.

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1.3. Scope of project:

The scope of design and development of multipurpose robot will perform

combine operations as a material handling, Surveillance, obstacle detection &
fire detection application will attach to the developed robot to fulfill the
requirement of industrial application.

1.4. Project Work Methodology:

Referring the in table 1.1, this final year project starts with some introduction
or briefing by supervisor.
• Beginning week, need to do some schedule management for this project
that covered for the whole week. It will be applying in Microsoft excel
to make a Gantt chart.
• After that, this project continuing with some literature review about the
project. In this literature review, need or to gather all the information
related with this project.
• Find the type, design, and the system used on the development of a
machine. It is also including the differences for each design in market.
All the information gathers from internet, journal, reference book and
people. The project continued with design the concept of a machine.
• The designs come out using from all data collection, concept, and
metric link before this. Try to evaluate the mechanical part of machine
and the system for each design come out. From the whole source,
develop (engineering drawing) the final concept. Once again make an
analysis to the final design body system.
• After all information, data and detail drawing are improved, the
fabrication Process stage start. As the reference, we look at detail
drawing to fabricate. The dimension and the material are already list on
the drawing.

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• In the fabrication & automation of the machine, its need us to apply

many knowledges and skills such as welding, drilling, and cutting the
material.
• Lastly, the final report writing and prepare the final presentation. This
takes about one week to arrange and accomplish. A report is guided by
university format and guidance from college guide.

Table.1.1. Project Work Methodology.

MONTH PROBABLE DATE WORK

Project Selection
SEPT 1 SEPT -30 SEPT
Project Finalization

Data Collection
OCT 1 OCT -30 OCT
Project Design

NOV 1 NOV – 30 NOV Material Procurement

DEC 1DEC-31DEC Manufacturing Process

JAN 1 JAN – 31 JAN Project Report

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1.5. Organization of dissertation:

This project Chapter 1 will first introduce the background of the study. Presents
the constraints that directly and indirectly influence on actual present system.
In Chapter 2, literature reviews of different existing techniques are reviewed
and the comparative is presented in literature study discuss the problems
occurred in the system. Chapter 3 we have discussed the construction &
working of system. In Chapter 4, discuss design procedure of system. Chapter
5 discuss manufacturing procedure of system. Chapter 6 discuss cost estimation
of system. Finally, in Chapter 7 discuss advantages, applications & result of the
system to be given.

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2. LITERATURE REVIEW

G. BalaKrishnan, D Mohan Kumar, C. Jagadeesh Vikram, P.Naveenchandran,

done the work on, Design And Fabrication Of Robotic Trolley For Material
Handling, according to his work, The main objective of this project is to
fabricate a robotic trolley for material handling in industries. In this project a
robotic vehicle is fabricated which runs like a car by carrying tools from place
to another. The motor relates to the wheel arrangement with the help of speed
reduction gear box. When the trolley is loaded with a tool or some other goods
it can be easily move to the place as per need by means of wireless remote
controller. It can be used in industries, hospitals etc. This work is made with
pre planning, that it provides flexibility in operation. Smoother and noiseless
operation by the medium of “Robotic Material Handling Trolley.” This
research work on “Robotic Material Handling Trolley” is designed with the
hope that it is very much economical and help full to many industries,
hospitals, and workshops. This work has also reduced the cost involved in the
concern and also it has been designed to perform the entire requirement task
which has also been provided. [1]

Kedar Nath Hota, , P K Das, Manoj Kumar Behara, done the work on, A Study
on Industrial Robots, according to his work, A robot is re-programmable,
multi-functional controller intended to move material, parts, instruments, or
concentrated gadgets through factor modified movements for the execution of
an assortment of assignments. Robotics can be characterized as the science or
investigation of the innovation essentially connected with the plan,
manufacture, hypothesis, and use of robots. Robotics is a science using the
continuing advancements of mechanical engineering, material science, sensor
fabrication, manufacturing techniques, and advanced algorithms. While
different fields contribute to the science, the strategies, and the segments,
mechanical autonomy make the enchanted finished result. The practical
applications of robots drive the development of robotics and drive

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advancements in other sciences in turn. Crafters and analysts in mechanical

autonomy think about something other than apply autonomy. Robots hold the
confirmation of moving and changing materials as per program feed in the
controller memory. [2]

Yi Jiangang, Xu Pin, Ju Siwei, Wei Pengfei, done the work on, Discussion on
the Construction and Reform of Industrial Robot Specialty, according to his
work, aiming at the new requirements of undergraduate education for national
and enterprise development, the construction of industrial robot specialty for
undergraduate education is proposed in the undergraduate course. Starting from
market requirements, the post composition of industrial robot enterprises is
analyzed. Based on it, the industrial robot professional training objectives are
set up and the new course system which is mainly composed of innovation and
practice is built. The experimental teaching system of the industrial robot
specialty is reconstructed by integrating the school laboratories and enterprise
equipment resources in order to provide new ideas to the undergraduate
education of industrial robot specialty. According to the "Made in China 2025",
it is necessary to cultivate the robotic professionals for the development
nowadays. In this paper, the training mode of the original professions is
improved, the new curriculum system is built, the deep integration of the
robotic technology and traditional mechanical specialty is realized through
constructing and reforming the "Industrial robotic specialty", which is positive
and significant for the implement of upgrading traditional mechanical specialty
and the education of the high-quality talent training with the spirit of
innovation and practice ability. [3]

M. T Islam, S A Mishu, M R Islam and T Billah, done the work on, Design &
fabrication of a robotic arm model with magnetic gripper, according to his
work, Repetitive tasks and high accuracy have become the two contradictory
needs of any industrial process. By introducing autonomous robotic
applications, simple repetitive tasks can be accomplished keeping the demands

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of the accuracy and speed. This paper represents the design, fabrication and
control of a model robotic arm which is used to loading and unloading the light
metal sheets with magnetic gripper. Two servo motors act as actuators to
control the motion of the arm and the orientation of the wrist. The arm is used
to lift the sheets and finally unload them in its destination. The actuator control
is achieved using a microcontroller. The end effectors to grip, transferring and
unloading the objects are magnetic which is made by relays. This research can
play a vital role in the sector of industrial process automation. The arm can
move in two directions radial about 270 degrees as well as vertical about
180degree. Repetitive tasks and high accuracy have become the two
contradictory needs of any industrial process. By introducing autonomous
robotic applications, simple repetitive tasks can be accomplished keeping the
demands of the accuracy and speed. From this requirement the objectives are
set and the research works (design, fabrication, installation and controlling the
robotic arm) have been done successful. [4]

Yusuf Buyruk and Gülen Ça˘gda¸s, done the work on, Article Interactive
Parametric Design and Robotic Fabrication within Mixed Reality Environment,
according to his work, In this study, a method, in which parametric design and
robotic fabrication are combined into one unified framework, and integrated
within a mixed reality environment, where designers can interact with design
and fabrication alternatives, and manage this process in collaboration with
other designers, is proposed. To achieve this goal, the digital twin of both
design and robotic fabrication steps was created within a mixed-reality
environment. The proposed method was tested on a design product, which was
defined with the shape-grammar method using parametric-modeling tools. In
this framework, designers can interact with both design and robotic-fabrication
parameters, and subsequent steps are generated instantly. Robotic fabrication
can continue uninterrupted with human– robot collaboration. This study
contributes to improving design and fabrication possibilities such as mass-
customization, and shortens the process from design to production. The user

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experience and augmented spatial feedback provided by mixed reality are

richer than the interaction with the computer screen. Since the whole process
from parametric design to robotic fabrication can be controlled by parameters
with hand gestures, the perception of reality is richer. The digital twin of
parametric design and robotic fabrication is superimposed as holographic
content by adding it on top of real-world images. Designers can interact with
both design and fabrication processes both physically and virtually and can
collaborate with other designers. [5]

Pratikkumar R. Hingu, Dhruv N. Panchal, done the work on, Industrial Robot
and Automation, according to his work, this research paper focuses mainly on
robotics and industrial level automation respect to the mathematical modelling
and programming with simulation. Where the accuracy requirement is nearly
100%, the human resources cannot handle the workload and unable to achieve
the required accuracy in less time; hence the industrial robots are used. The
research paper mainly focused on the industrial robot and automation design
and calculation. The advanced mathematical formula, mechanical & electrical
component, and the programming language come together to prepare the
required industrial robot. The 6-axis robot is a well-known standard robot,
which is commonly used by all kinds of MNCs for heavy and accurate work.
When selecting a robot properly, it is necessary to consider the different
properties of the robot, including how the robot links are connected and
controlled at each joint. Next, a thorough evaluation of robotic kinematics,
dynamics, and control strategies, together with all the diagnosis of deep neural
networks, will describe recent efforts to accelerate the advancement of
intelligent control systems for robotic systems. The MNC required mainly 6-
axis robots to perform and handle most of the process, which helps the
manufacturing process errorless and fast. It is more convenient to first simulate
the design and program the required robot as per industrial standard in unity
machine, and after observing the behaviour and resolving the error, approach to
building physical system which helps to save power, time, and machine. The

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unity is growing more popular nowadays, and also it tried to meet the industrial
standard of the robot simulation. The new generation, one can say school and
university students who cannot afford to build the physical system, but have the
potential to learn and build industrial-based robotics system can have the
platform to show their creativity, the potential to the world and can enhance
their knowledge through the simulation platform. [6]

Ravikumar Mourya, Amit Shelke, Sourabh Satpute, Sushant Kakade, Manoj

Botre, done the work on, Design and Implementation of Pick and Place Robotic
Arm, according to his work, Robot manipulator is an essential motion
subsystem component of robotic system for positioning, orientating object so
that robot can perform useful task. The main objectives of this project are to
design and implement a 4-DOF pick and place robotic arm. This project can be
self-operational in controlling, stating with simple tasks such as gripping,
lifting, placing and releasing. In this project, the focus is on 4-DOF articulated
arm. Articulated arm consists of revolute joints that allowed angular movement
between adjacent joint. Four servo motors were used in this project to perform
four degree of freedom (4-DOF). There are numerous dimensions over which
robotic arms can be evaluated, such as torque, payload, speed, range,
repeatability, and cost, to name a few. Robot manipulators are designed to
execute required movements. Their controller design is equally important. The
robot arm is controlled by a serial servo controller circuit board. The controller
used for servo motor actuation is ATmega 16 Development board. In this
project They are designing and fabricating of a 4-DOF manipulator has been
successfully completed. With reference to many available manipulators and
mobile platforms in market, a practical design for the manipulator has been
perceived and computer aided designing tools like Creo 1.0 and AutoCAD are
used to model the desired manipulator. Theoretical analysis of the inverse
kinematics was carried out to determine the end effectors position and
orientation. FE Anlysis is done by using ansys software. [7]

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Md. Tasnim Rana & Anupom Roy, done the work on, Design and Construction
of a Robotic Arm for Industrial Automation, according to his work, The main
concentration of the work was to make a cost efficient autonomous robotic arm
in terms of industrial automation. It is a type of mechanical arm, usually
programmable, with similar functions to a human arm; the arm may be a unit
mechanism or may be a part of a more complex robotic process. The end
effector or robotic hand can be designed to perform any desired task such as
welding, gripping, spinning etc., depending on the application. For detective
investigations and bomb disposal it can be used as an essential machine. In
industry any kind of work which should be accurate and works continuously,
normal programming algorithms and mechanical function can do the job
perfectly. It can sense the coordinate of any object from conveyer and detect it.
Its claw will grab the object and take it to a desire destination. This paper
represents the design, development, and implementation of robot arm in terms
of industrial automation, which has the talent to accomplish simple tasks, such
as it can sense any material and capable of light material handling. The robot
arm was designed and built from acrylic material where servo motors and
stepper motor were used to perform links between arms and execute arm
movements. The servo motors include encoder so that no controller was
implemented; how- ever, the rotation range of the motor is less than 180º span,
which greatly decreases the region reached by the arm and the possible
positions. To control the robot an autonomous computer code is used and serial
communication method give an access to the autonomous process. [8]

S Senthilraja, R Gangadevi and M Thirugnanam, done the work on, Design and
fabrication of three axis robot for material handling in chemical industries,
according to his work, Material handling system is an integrated system, which
involves many activities such as moving, handling, storing, and controlling of
materials by means of manual or power actuated machinery. Due to the high
resource consuming of material handling system and handling of hazardous
materials, different types of robots used to handle the materials in chemical

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industries. The paper deals with the design and fabrication of robot for material
handling applications. Three degrees of freedom robot was designed in this
project. The robot arms are equipped with pneumatic actuators to perform arm
movements and a pneumatically operated vice with IR sensor. The pneumatic
actuators are interfaced with a unit that consists of PIC microcontroller to
control the actuator. Testing and validation of the robot arm was carried out
and the robot works properly. A three degrees of freedom robot which has the
talent to handle hazardous materials in chemical industries was designed and
fabricated. The robot was designed and manufactured using stainless steel
materials and the pneumatic linear actuators were used to actuate the links to
perform arm movements. The material handling system has a huge future scope
which includes that the number of axes can be further increased to provide a
larger base and to carry heavier loads, the efficiency of the system can be
increased by applying functions simultaneously to multiple grippers, the robot
can be made calibrated to the vice further to pick completed jobs from the vices
and dropping them to required places. [9]

S. Ananth, P. Vijayakumar, K. Guruprasath & V. Kalaiyarasan, done the work

on, Design And Fabrication of Material Handling Robot for Multi Station,
according to his work, they have designed material handling robot for multi
stations. Material handling robot for multi stations is a mobile robot used in
industrial applications to move materials around a manufacturing area or a
warehouse. Proximity Sensor, DC Motor, Wheel, and Material handling
vehicle are the main blocks in this project. Here we use proximity sensor to
handle a material and to replace it at a particular place in for our requirement.
For this purpose, we use visitor guided vehicle. A motor is attached with the
vehicle wheel for moving purpose. The motor gets power through control unit.
The proximity sensor detects the positioning plate and gives the output signal
to the control unit and it activates the relay. The motor runs when the relay is
on. When the vehicle reaches a particular place, the reader detects and alarm is
activated. This project is made with pre planning, that it provides flexibility in

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operation. This innovation has made the more desirable and Economical. This
project “Design and Fabrication of Material Handling Robot for Multi
Stations” is designed with the hope that it is very much economical and help
full to many industries for material handling. This project helped us to know
the periodic steps in completing a project work. Thus, we have completed the
project successfully. [10]

Aydin Azizi,Poorya Ghafoorpoor Yazdi,Ali Al Humairi, Mohammad Alsalmi,

Basma Al Rashdi, Zuwaina Al Zakwani,Sultan ALSheikaili, done the work on,
Design and fabrication of intelligent material handling system in modern
manufacturing with industry 4.0 approaches, according to his work, The
influence of global economy has led to changes in the conventional approaches
for manufacturing companies. In this case, manufacturing companies has taken
under consideration several essential characteristics such as real-time reaction
to changes, quick and quality response in satisfying customer requests, in both
hardware equipment and software modules by which the production processes
are improved for next generation manufacturing system. Nowadays, material
handling system for manufacturing purposes is the key component for any
modern manufacturing processes. Additionally, due to high variety of products
and shorter response times in today’s manufacturing industry, the demand for
smart material handling system has increased. Therefore, to recover these
demands, custom-built systems should be implemented which requires
individually created control software which deals with flow control, product
routings, and layout and products distribution. Therefore, this paper aims to
design and fabricate smart material handling system. This system includes
conveyors, robot and sensors. Conveyors are designed in such a way that it can
facilitate easy and has a safe loading and unloading which is done with a
robotic arm. To make the system smart, it is integrated with sensors in order to
be able to distinguish and distribute objects. [11]

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Janmey Panchal, Akib Mansuri, Samir Mansuri and Abhishek Chauhan, done
the work on, Design and Fabrication of Automatic Sensor based Material
Handling Vehicle, according to his work, In the recent times the need of
automation is increasing day by day which helps us to enhance the creation and
application of technologies to produce and deliver goods and services with
minimal human intervention. The implementation of automotive technologies,
techniques and processes improve the efficiency, reliability, speed of many
activities that were previously performed by humans. Therefore, an automatic
human following sensor-based material handling vehicle is required which
decreases the human effort and increases the capacity to finish the work at the
small-time interval. This research mainly describes the working of ultrasonic
sensor attached to the small four-wheel trolley cum vehicle which will be run
by using renewable source of energy. Also, it has been made to help the
workers and the frontline workers to carry such materials in this contact less
covid era. In this thay will also like to explain the combination of the automatic
as well as the utility of renewable source of energy to save the energy for future
generation and for the welfare of the nature. By this project thay can conclude
that human following material handling vehicle is a good alternative when
compared to the conventional trolleys and other AGV vehicles which are being
used in markets. Huge amount of work, time and money could be saved by the
implementation of this concept. The technology can be easily implemented in
the hospitals as a nurse following robot, in a child care unit, restaurants and
banquets especially in this contactless tracing world and it can be widely used
as a material handling equipment. As thay have used the renewable source of
energy to motivate the concept of clean energy as it has the least negative
impact on the environment compared to any other energy source. [12]

Kunal N. Palasdeokar, Abhishek A. Chavan, Mihirkumar N. Panchal, Rohini

D. Patil, Design, done the work on, Analysis and Fabrication of Pick & Place
Colour Sorting Robotic Arm, according to his work, sorting of packages is the
most tedious, labor-intensive, and repetitive work in industries. Scanning

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number of objects and placing them on required conveyer consumes a lot of

human effort while in case of heavy and bulky packages it becomes very
difficult for worker to ensure smooth process and some error while sorting
might occur. With introduction of automated robotic arm, the human effort can
be eliminated at a large extent without any error. The prime objective of this
project is to design and develop a robotic arm that sorts the packages and place
it at desired location. The heart of this project is Arduino microcontroller which
controls the servomotors used in links. An algorithm is developed which runs
the microcontroller to deliver desired output. After performing simulations and
number of testing, a robotic arm for mentioned application is achieved. The
system has been successfully designed and it has the capability to rotate 360o
and handle the required task. It can take RGB colored object, hold it and put it
to a particular station using RGB color sensor. TCS3200 gives precise output.
It can also be more efficient by using different color sensors and micro-
controller. Color sensing section performed two main tasks; object’s detection
and color recognition. System is fully automated and can pick objects of 1 kg
weight approximately. The cost-effective system was designed to perform the
continuous and reliable tasks without human errors using the simplest concepts.
The robotic sorting systems are useful in industries and different household
activities. Since this system is mainly controlled by the PIC Microcontroller,
the results obtained are more reliable and faster. [13]

Samarth Nimgaonkar, Pranali Chaudhari, Komal Ghadge, Surekha Kamble,

Jayashri Chopade, done the work on, Design and Development of a 3-axis Pick
and Place Robot for Industrial Use, according to his work, The primary goal of
this research and development project is to Design and develop a pick and
place robot for industrial use. The system is so designed that it eliminates
human error and human intervention to get more precise work. This robotic
arm can pick and place objects. The robot was designed, assembled,
implemented in various fields such as; in bottle filling industry, and packing
industry, and then programmed using a pneumatic circuit. The end effector is

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designed to grab the object, lift it and place it in the desired location. The
system works well till 12 kg but fails at 13 kg. The analytical stress is 37.127
MPa thereby suggesting that the design of link-1 is safe under a given system
of forces. The maximum deformation is 0.609 mm which is very negligible
hence the link-1 is safe under a given system of forces. The analytical stress is
28.82 MPa thereby suggesting that the design of link-2 is safe under a given
system of forces. The maximum deformation is 0.32661 mm which is very
negligible hence the link-2 is safe under a given system of forces. The
analytical stress is 31.341 MPa thereby suggesting that the design of the Swivel
base is safe under a given system of forces. The maximum deformation is
0.14185 mm which is very negligible hence the Swivel base is safe under the
given system of forces. [14]

Samadhan Bhavar, Nikhil Koshti, Shantanu Kulkarni, Vishal Chavan, done the
work on, Design and Development of Multipurpose Automatic Material
Handling Robot with implementation of Virtual Twin, according to his work,
This paper deals with the Design and development of multipurpose automatic
material handling robot to overcome the logistic problem that often occurs in
the warehouse automation, workplaces and make improvement to the facilities
provided in the workplaces. Make efficient processes by enhancing material
handling and inventory tracking and management process. Using system-
thinking approach (MBSE), design and optimize the system and subsystem
required for the automatic material handling robot considering interaction
between systems, sub-systems, and external environment within the workplace.
Development of system to complement different functions of navigation,
deployment, operational flexibility, responsiveness. As they know that the day-
by-day demand and operations of E-commerce systems and increasing post
pandemic. To tackle these increasing demands with higher output, operational
flexibility, lesser human interaction and in cost effective manner. Hence the
product they developed is the best solution for logistics and supply chain
(warehouse) automation with least possible cost than other systems. This

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product involves plenty of research areas and future scopes and advancement
as looking after the increasing demand. [15]

Shani Sharif a, T. Russell Gentry b and Larry M. Sweet, done the work on,
Human-Robot Collaboration for Creative and Integrated Design and
Fabrication Processes, according to his work, This paper proposes a new
framework for digital design to fabrication workflow to create an effective
collaboration process between human designers and industrial robots, in order
to redefine the relationship between design and production. This framework
aims at redefining the current one-directional workflow of design to robotic
fabrication that is imposed by the current robot programming and control
systems, originally developed for engineering product industries. Our proposed
system employs machine perception, adaptive control, and design libraries to
adapt fabrication processes in real time, in parallel with human perception,
learning, and guidance, to act as a catalyst of innovation for design practices,
accelerating the design and production of novel building and industrial
components. This research addressed the main elements that are required for
development of a new digital design to fabrication workflow, in order to create
a structure for effective collaboration between human designers and industrial
robots. They will implement these algorithms, controls and design libraries in
an integrated test-bed and will test the test-bed with student designers in
graduate and undergraduate level Robotic Fabrication courses at Georgia Tech.
They anticipate that by updating of design information based on fabrication
sensor feedback would result in minimizing the errors through sensing and re-
tooling/rework. This would also result in increasing the body of work that can
be accomplished with industrial robots. In addition, by developing techniques
for sheet metal fabrication, this research would create the potential for
extension of this system to other materials and system. Most importantly, this
workflow would construct the required infrastructure for involvement of
designers in robotics design and fabrication process. [16]

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Prof. C. C. Jadhav, Mr. Ruturaj Kale, Mr. Abhijit Kukade, Mr. Gaurav
Khandalkar, Mr. Sandip Ingale, Mr. Rohan Bhandare, done the work on,
Design and Manufacturing of Robotic Arm for Industrial Applications,
according to his work, Design and Development of Automation of Loading and
Unloading to machine fixture” This Setup involves the use of automation
solution to reduce operator fatigue and increase efficiency. Industries in the
recent day concentrating on CNC machineries for mass production by replacing
conventional lathes to improve productivity, but loading and unloading of job
carried over by manual, However Present work, machine tool manufacturer are
coming with solutions including automatic loading and unloading to reduce the
fatigue of labour and reduce cycle time and increasing productivity.
Productivity Improvement on a Production by Automatic Loading and
Unloading of Component includes analysis and detailed study of
manufacturing process including loading and unloading methods of
components on a machine. Present work aims at improving the productivity of
components on a CNC Fixture. Here emphasis is placed upon improving the
existing time-consuming methods.[17]

Manjunath G, Ashik R, Aadhithya Roy, Abay Dev K S, Vishnu Suresh, done

the work on, Design And Fabrication Of Automatic Material Handling Robot,
according to his work, An Automated Guided Vehicle (AGV) is a set of co-
operative driverless vehicle, used on manufacturing floor and coordinated by a
centralized or distributed computer-based control system. AGV's-based
Material Handling Systems (MHS's) are widely used in several Flexible
Manufacturing System (FMS) installations. One of the challenges in MHS's is
how flexible and adequate is the utilization. The main issue of the flexibility of
MHSs is the routing system. It should be designed in a way that it can be easily
modified to become adaptable to new or replaced machines. The main focus of
this project is to make an AGV with the convenient materials, simple and
applicable routing system and more importantly reducing the cost and
increasing the flexibility. For this propose an AGV is basically modelled and

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designed with SIEMENS NX9 software and developed with special

specifications. They have achieved the required accuracy and reliability in
designing and developing the structure of AGV, study, analysis and
development of suitable navigation system for AGV tracks as well as
development of a smart AGV using an Arduino based microcontroller. [18]

Sarang A Katkar, Girish Karikatti, Sujay Ladawa, done the work on, Material
Handling Robot with Obstacle Detection, according to his work, The Material
Handling Robot refers a type of system that can be used in production as well
as in other industries etc. This system includes a battery-operated remote
sensing locomotive (carrier) on which a small lift is provided, specific path
over which it moves, sensors for sensing the obstructions on the path of the
carrier. Also, sensors for sensing exact positions from where load wants to
carry and to were. The Material Handling Robot moves using the electric
power from the battery. It moves with a low and constant speed on the
prescribed path. The path has a specific color (black). The bottom of the carrier
has sensor which is always coupled with the path. The steering is done by the
path. The front side of carrier vehicle contains sensors for sensing the
obstructions on the path. As it reaches the unloading station, it is stopped and
unloading of the material is done at that station. And move to collecting
stations again. Continues working cycles for making this project a reality. By
this the three is ease in transporting materials or finished products from one
work station to the other. The Material Handling Robot (MHR) is a
productivity increasing feature in a factory. During the manufacturing of this
MHR it was found many of intelligence that can be given to it. It provides the
basic functions like line following and collision avoiding. And the main
function, transportation of goods from station to station. [19]

Yuanyuan Liu, done the work on, Design and Improvement of New Industrial
Robot Mechanism Based on Innovative BP-ARIMA Combined Model,
according to his work, The main innovation of Industry 4.0, which involves

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human-robot cooperation, is transforming industrial operation facilities.

Robotic systems have been developed as modern industrial solutions to assist
operators in carrying out manual tasks in cyber-physical industrial
environments. These robots integrate unique human talents with the capabilities
of intelligent machinery. Due to the increasing demand for modern robotics,
numerous ongoing industrial robotics studies exist. Robots offer advantages
over humans in various aspects, as they can operate continuously. Enhanced
efficiency is achieved through reduced processing time and increased industrial
adaptability. When deploying interactive robotics, emphasis should be placed
on optimal design and improvisation requirements. Robotic design is a very
challenging procedure that involves extensive development and modeling
efforts. Significant progress has been made in robotic design in recent years,
providing multiple approaches to address this issue. Considering this, they
propose utilizing the Backpropagation Autoregressive Integrated Moving
Average (BP-ARIMA) combination model for designing and improving a
novel industrial robot mechanism. The design outcomes were evaluated based
on performance indicators, including accuracy, optimal performance, error rate,
implementation cost, and energy consumption. The evaluation findings
demonstrate that the suggested BP-ARIMA model offers optimal design for
industrial robotics. [20]

C. Sowmya Dhanalakshmi1, P. Madhu, N. Hemachandran, V.E. Muthukumar

and Harish Arvinth.L.B, done the work on, Design and Fabrication of Robotic
Arm for the assembly of Phase Selector Switch, according to his work, This
paper explores the robot arm where the ability of human to do a project is
restrained however now not with the aid of his mental electricity however
through his bodily energy. A humanoid mechanical technology is another
difficult field. To co-work with people, humanoid robots not just need to
include human like structure and structure, yet more significantly, they should
arrange human like conduct with respect to the movement, Correspondence,
and intelligence. In environmental factors where human exchange cannot be

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conceivable to do a specific errand, the robots can do. Robots are used for lean
industrial processes and have diversified their contributions to meeting lines
inside the production international. The main focus of this project is to design
and develop the mechanism for robotic arm for lifting. It is a type of
mechanical arm, usually programmable, with similar functions to a human arm.
The arm might be a unit system or might be an aspect of a more unpredictable
mechanical cycle. The end effectors or mechanical hand can be intended to
play out any ideal undertaking, for example, welding, holding, turning etc.,
depending on the application. [21]

Avinash N Bhat, Abhishek Yalnaik, done the work on, Design and Fabrication
of Pick and Place Robot using Microcontroller, according to his work, Robotic
arm has become popular in the world of robotics. The essential part of the
robotic arm is a programmable microcontroller-based brick capable of driving
basically 3 stepper motors design to form an anthropomorphic structure. In this
anticipate an automated arm with four degrees of opportunity is composed and
can pick the items with a particular weight and place them in a sought area. To
encourage the lifting of the items, Servomotors are utilized. This abstract
explains the method of interfacing the robotic arm stepper motors with the
programmed PIC16F877A based microcontroller which are used to control the
robot operations. A sample robot which can grab and release small objects is
built for demonstrating the method explained. In this project, the main
application is control of multiple operations and movement of conveyer using
time-based Microcontroller. The initial phase of the project focuses on passing
the inputs to the microcontroller to identify the number of different
workstations available in the industry which are specified by the user.
Automated pick and place a framework comprise of a preparing station, testing
station, and sorting station. [22]

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3. CONSTRUCTION

Components are used for manufacturing of multipurpose robot are:

Table.3.1. Material Requirement.

SR. NO. COMPONENTS

1. DC Geared motors

2. Ball bearings

3. Shaft

4. Belt Drive

5. Chassis Frame Structure

6.
IR Sensor
7. Buzzer & Indicator

8.
Spur Gears
9.
12 V Lead Acid Battery
10.
Wheels
11.
Controller
12.
12 VDC IR Sensor

The project specifications are given as below,

3.1. Frame:

The frame is of MS material. The frame of our machine is basically used to

support the components mounted on it for robot.

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3.2. Ball bearings:

This type of bearing consists of i) a cast iron pedestal, ii) gun metal, or brass
bush split into two halves called “brasses”, and iii) a cast iron cap and two mild
steel bolts. The detailed drawing of a pedestal bearing is shown in image
below. The rotation of the bush inside the bearing housing is arrested by a snug
at the bottom of the lower brass. The cap is tightened on the pedestal block by
means of bolts and nuts. The detailed part drawings of another Plummer block
with slightly different dimensions are also shown in image below.

Fig.3.1. Ball bearing.

3.3. Shaft:

Shaft is a common and important machine element. It is a rotating member, in

general, has a circular cross-section and is used to transmit power. The shaft
may be hollow or solid. The shaft is supported on bearings and it rotates a set
of gears or pulleys for the purpose of power transmission.

Material for Shafts:

The ferrous, non-ferrous materials and non-metals are used as shaft material
depending on the application.

Fig.3.2. Shaft.

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3.4. Washer:

A washer is a thin plate (typically disk-shaped) with a hole (typically in the

middle) that is normally used to distribute the load of a threaded fastener such
as a screw or nut. Other uses are as a spacer, spring (wave washer), wear pad,
preload indicating device, locking device, and to reduce vibration (rubber
washer). Washers usually have an outer diameter (OD) about twice the width
of their inner diameter (ID). Washers are usually metal or plastic. High quality
bolted joints require hardened steel washers to prevent the loss of pre-load due
to Brinelling after the torque is applied. Rubber or fiber gaskets used in taps (or
faucets, or valves) to stop the flow of water are sometimes referred to
colloquially as washers; but, while they may look similar, washers and gaskets
are usually designed for different functions and made differently. Washers are
also important for preventing galvanic corrosion, particularly by insulating
steel screws from aluminum surfaces.

Fig.3.3. Washer

3.5. Nut and Bolts:

As nuts and bolts are not perfectly rigid, but stretch slightly under load, the
distribution of stress on the threads is not uniform. In fact, on a theoretically
infinitely long bolt, the first thread takes a third of the load, the first three
threads take three-quarters of the load, and the first six threads take essentially
the whole load. Beyond the first six threads, the remaining threads are under
essentially no load at all. Therefore, a nut or bolt with six threads acts very
much like an infinitely long nut or bolt.

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Fig.3.4. Nut and Bolt.

3.6. Geared motor:

In this project we use DC gear motor 12 volts,60 RPM geared motor.

Fig.3.5. Geared motor.

3.7. Spur Gear:
A gear is a rotating machine part having cut teeth, or in the case of a cogwheel,
inserted teeth (called cogs), which mesh with another toothed part to
transmit torque. Geared devices can change the speed, torque, and direction of
a power source. Gears almost always produce a change in torque, creating
a mechanical advantage, through their gear ratio, and thus may be considered
a simple machine. The teeth on the two meshing gears all have the same shape.
Two or more meshing gears, working in a sequence, are called a gear train or
a transmission. A gear can mesh with a linear toothed part, called a rack,
producing translation instead of rotation.

3.6. Spur Gear.

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3.8. Wheels:
Wheel is used to carry the whole assembly and move machine from one place
to another by rotary motion of it. Wheel is designed to fit into the frame and
fork via drop outs, and hold tire. A typical modern wheel has a metal hub, wire
tension spokes and a metal or carbon fiber rim which holds a pneumatic rubber
tire. We use a tubeless tire wheel.

Fig.3.7. Wheel.

3.9. 12 Volt Battery:

There is 12V rechargeable battery is used in the robot. The batteries are used to
the power supply for motor, cutter pump & relay drivers.

Fig.3.8. Battery.

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4.ELECTRONIC SYSTEM DESIGN

In this project we have used ESP32 module for wireless communication of
project using mobile remote controller. The details of ESP32 module is given
below,

4.1. ESP32:
A feature-rich MCU with integrated Wi-Fi and Bluetooth connectivity for a
wide-range of applications. The details Features of ESP32 module is given
below,

• Robust Design:
ESP32 is capable of functioning reliably in industrial environments, with an
operating temperature ranging from –40°C to +125°C. Powered by advanced
calibration circuitries, ESP32 can dynamically remove external circuit
imperfections and adapt to changes in external conditions.

• Ultra-Low Power Consumption:

Engineered for mobile devices, wearable electronics and IoT applications,
ESP32 achieves ultra-low power consumption with a combination of several
types of proprietary software. ESP32 also includes state-of-the-art features,
such as fine-grained clock gating, various power modes and dynamic power
scaling.

• High Level of Integration:

ESP32 is highly-integrated with in-built antenna switches, RF balun, power
amplifier, low-noise receive amplifier, filters, and power management modules.
ESP32 adds priceless functionality and versatility to your applications with
minimal Printed Circuit Board (PCB) requirements.

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• Hybrid Wi-Fi & Bluetooth Chip:

ESP32 can perform as a complete standalone system or as a slave device to a
host MCU, reducing communication stack overhead on the main application
processor. ESP32 can interface with other systems to provide Wi-Fi and
Bluetooth functionality through its SPI / SDIO or I2C / UART interfaces.

• Wi-Fi & Bluetooth Dual Mode:

The integration of Wi-Fi, Bluetooth and Bluetooth LE ensures that a wide
range of applications can be targeted, and that our modules are truly versatile.
Using Wi-Fi ensures connectivity within a large radius, while using Bluetooth
allows the user to easily detect (with low-energy beacons) a module and
connect it to a smartphone.

• High Integration:
With in-built antenna switches, RF balun, power amplifier, low-noise receive
amplifier, filters, and power management modules, our chips add priceless
functionality and versatility to your applications with minimal PCB
requirements.

• Configurability and Customization:

ESP32 modules can be ordered with different antenna configurations (e.g. PCB
antenna, antenna connector) and flash sizes, so that they correspond to the
needs of different applications. ESP32 modules also offer manufacturing
customizations with the pre-programming of application firmware, custom data
and pre-provisioning with cloud certificates.

• Application-Ready:
All ESP32 Series of modules have a wide operating temperature range of -40°C
to 105°C, and are suitable for commercial application development with a
robust 4-layer design that is fully compliant with FCC, CE-RED, SRRC, IC,
KCC & TELEC standards.
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4.2. Functional Description:

ESP32-DevKitC V4 is a small-sized ESP32-based development board

produced by Espressif. Most of the I/O pins are broken out to the pin headers
on both sides for easy interfacing. Developers can either connect peripherals
with jumper wires or mount ESP32-DevKitC V4 on a breadboard. To cover a
wide range of user requirements, the following versions of ESP32-DevKitC V4
are available: different ESP32 modules

• ESP32-WROOM-32E
• ESP32-WROOM-32UE
• ESP32-WROOM-32D
• ESP32-WROOM-32U
• ESP32-SOLO-1
• ESP32-WROVER-E
• ESP32-WROVER-IE
For details, please refer to Espress if Product Ordering Information. The
following figure and the table below describe the key components, interfaces
and controls of the ESP32-DevKitC V4 board.

Fig.4.1. ESP32-DevKitC V4 with ESP32-WROOM-32 module soldered.

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Table.4.1. Key Component Description.

The pins D0, D1, D2, D3, CMD and CLK are used internally for
communication between ESP32 and SPI flash memory. They are grouped on
both sides near the USB connector. Avoid using these pins, as it may disrupt
access to the SPI flash memory / SPI RAM. The pins GPIO16 and GPIO17 are
available for use only on the boards with the modules ESP32-WROOM and
ESP32-SOLO-1. The boards with ESP32-WROVER modules have the pins
reserved for internal use. P: Power supply; I: Input; O: Output; T: High
impedance.

4.3. Power Supply Options:

There are three mutually exclusive ways to provide power to the board:
Micro USB port, default power supply
5V / GND header pins
3V3 / GND header pins

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Fig.4.2. Pin Layout.

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5. WORKING

This system is used by wireless remote operated multipurpose robotics work. In

normal travelling of robot, the motor will control by wireless remote switches
either forward or reverse direction. Additional motor will rotate swing arm as
per required direction for surveillance mobile camera rotation. When we
required material handling by robot ON or OFF using wireless remote. This
control unit operates the steering motor by wireless module according to the 12
VDC battery input supply signal. The controller operates the DC obstacle
sensing unit for safety of accident. The remote unit uses one more motor driver
button for driving one DC Motor for arm operation with a mounted on its shaft
for rotation of surveillance camera. Thus, in the event of a multipurpose robotic
is moved over to the location by operating the forward & backward wireless
remote etc. After it reaches the position the fire the sensor will indicate by
buzzer. The robot will similarly work industrial application as per
requirements.

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6. DESIGN

In the beginning of the project design phase, cadets met with the mentor
regularly to create “optimal” robot. The initial design was modified many times
before final decisions were made. The robot frame was first designed to house
motors, sensors, batteries, and an electronic circuit board. To develop the robot
frame, the two cadets independently designed separate frames which were later
combined into one after studying advantages and disadvantages of each design
(educational outcome number five). The cadets researched various robot frames
before designing their own, which indicated intellectual curiosity (educational
outcome number six).

During the design stage, the cadets also had opportunities to practice their skills
of resolving a problem which has numerous possible solutions (educational
outcome number two); each initial design solution was then evaluated and
studied among the group. The cadets exercised their oral communication skills
(educational outcome number three) while presenting their solutions to the
team. Finding a suitable motor for the motion control of the robot forced the
cadets to again solve an ill-defined problem. The cadets learned advantages and
disadvantages of various types of motors: dc vs. stepper, permanent magnet vs.
charged, brush vs. brushless, etc. This design phase renders itself naturally to
skills of the framing and resolving a defined problem as well as teamwork
skills.

The system design is dividing into two parts given below,

1) 3600 camera Swing arm design.

2) Vehicle transmission components design.

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6.1. Motor selection for 3600 swing arm:

T = Torque transmitted by the motor N.m.

F = Load on motor = 1 kg = 9.81 N. (Assume)

R = gear radius = 40mm = 0.04 m.

T = Fx R

= 9.81 X 0.04

T = 0.3924 N.m.

P = Power of motor

N = Speed of the motor = 60 rpm. (Assume)

P = 2ПNT

60

= 2 П x 60 x 0.3924

60

P = 2.46 Watt.

Thus, selecting a motor of the following specifications

• DC Gear motor
• Power =50 watt
• Speed= 60 rpm
Motor Torque

P = 2ПNT
60
T= 60 x 50
2 П x 60

T = 7.96N-m

Power is transmitted from the motor shaft to the input shaft by means of a gear
drive,

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6.2. Spur gear pair system:

No teeth on gear Zg = 25

No teeth on pinion Zp=25

Material of gear & pinion both are nylon, DDB. P No.1.41.

Sut p =82 N/ 𝑚𝑚2

Sut g =82 N/ 𝑚𝑚2

Application factor ka = 2

Load distribution factor km= 1

Factor of safety Nf = 1.5

BHN = 24

Power P = 50 Watt.

Np= 60 rpm

Beam strength (δb)

𝑆𝑢𝑝 82
6bp = = 3 = 27.33 N/𝑚𝑚2
3

𝑆𝑢𝑔 82
6bg= = 3 = 27.33 N/𝑚𝑚2
3

Assuming 𝟐𝟎𝟎 full depth involution system,

2.87 2.87
Yp=0.484 - =0.484 - = 0.3692
𝑍𝑝 25

2.87 2.87
Yg=0.484 - =0.484 - = 0.3692
𝑍𝑔 25

Now, 𝛿𝑏𝑝 . Yp = 27.33 ×0.3692= 10.0902 N/𝑚𝑚2

𝛿𝑏𝑔 . Yg = 27.33 ×0.3692= 10.0902 N/𝑚𝑚2

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As 𝛿𝑏𝑔 . Yg ≤ 𝛿𝑏𝑝 . Yp

Gear is weaker then pinion. Hence, it is necessary to design the gear for
bending.

Bending force (Fb)

Fb=6bg.b .m.Yg

=27.33 X 10𝑚 𝑋 𝑚 𝑋 0.3692

Fb =100.902 𝑚2 N

Wear strength (Q)

2𝑍𝑔 2𝑋25
Q = 𝑍𝑔. +𝑍𝑝 = 25+25 =1

Load stress factor (K)

𝐵𝐻𝑁 24
K=0.16[ 100 ]2 = 0.16[100]2 = 9.216 x 10-3 N/𝑚𝑚2

Bucking 𝑒𝑞 𝑛 for the weer strength (Fw)

Fw =𝑑𝑝 × 𝑏 × 𝑄 × 𝐾

= 25m x 10m x 1 x 9.216 x 10-3

Fw=2.304 𝑚2

Fb ≤ Fw design should be on wear failure

Effective load

𝜋×𝑑𝑝×𝑛𝑝 𝜋×25𝑚×60
V= 60×1000 = = 0.078 m m/s
60×1000

Tangential force (ft)

𝑃 50 636.619
Ft = 𝑉 = N= N
0.078 𝑚 𝑚

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As per the gear pair is manufactured by generation, the velocity factor is given
by,

3 3
Kv = =
3+𝑉 6+0.078𝑚

𝐾𝑎.𝐾𝑚.𝐹𝑡
Feff=
𝐾𝑣

Feff=effective load

Ka=application factor

Km=distribution factor

Kv=velocity factor

2×1 636.619
Feff= 3 × 𝑚
3+0.078𝑚

Estimate the module- Fw=Nf .Feff

2×1 636.619
2.304 𝑚2 =1.5× 3 × 𝑚
3+√0.078𝑚

Solving by above equation by trial & error, we get,

Dimensions of gear pair - m = 1.5

ZP = 25

Zg =25

B = 10 m = 15mm

Dp = m×zp = 1.5×25=37.5mm

Dg = m×zg = 1.5×25=37.5mm

ha = 1m = 1.5mm

hf = 1.2m = 1.857 mm

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6.3. Shaft design:

To find diameter of shaft by ASME code.

For commercial steel shaft, Actual shear stress τact = 55N/mm2

T = /16 x τact xd3

𝟏𝟔𝐱𝐓
τact=𝐱𝐝𝟑
16 x 55
7.763 =  x d3

d3=737.089

d=9.033mm select d=10mm.

6.4. Bearing selection:

As shaft dia. – is 10mm so we have selection a ball bearing having shaft dia. –
10mm.

Total axial load on bearings are = 1kg. = 9.81 N.

Axial load on each bearing’s Fa = 9.81 /2 = 4.905 N.

Equivalent dynamic load
Pe = V.Fa. Kr
= 1 X 4.905 X 1.5
Pe = 7.357 N
bearing life is,
𝐋𝐡𝟏𝟎 𝐗 𝟔𝟎 𝐗 𝐧
L10 =
𝟏𝟎𝟔
Lh10 from graph 4.6 PSG Design data book for 20000 rpm maximum speed of
ball bearing is 200000 Hours. PSG Design data book P.No. 4.13.

𝟐𝟎𝟎𝟎𝟎𝟎 𝐗 𝟔𝟎 𝐗 𝟔𝟎
L10 =
𝟏𝟎𝟔

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L10 = 720 millions of revolutions.

C
L10 = ( )(3)
Pe

C =(720)(0.33) X 7.357

C = 64.51 N. ≤ 4000 N (Bearing is safe.) PSG D.D.Book.P.No.4.13.

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6.5. Motor selection for rear wheel:

Let us assume the load on the motor will be

W = 5 x 9.81

W = 49.05 N

So that power will be transmitted by belt drive assume having center distances
150mm. Cross section symbol A.

Recommended pulley pitch diameter Motor d = 20 mm.

Recommended pulley pitch diameter shaft D = 60 mm.

Center distance for given belt drive C = A+ √𝐴2 − 𝐵

𝐿 𝐷+𝑑
Where A = 4 - 𝜋 8

150 60+20
= -𝜋
4 8

= 37.5 + 31.4159

A = 68.9159 mm

(𝐷− 𝑑)2
B= 8

(60− 20)2
=
8

B = 200 mm

C = A+ √𝐴2 − 𝐵

= 150+ √68.91592 − 200

C = 217.4492 mm. (Corrected Center Distance)

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Torque T = Load on the motor x Corrected Center Distance

= 49.05 x 217.4492

T = 10665.8 N.mm.

T = 10.66 N.m.

Thus, selecting a motor of the following specifications.

Let us assume,

2𝜋𝑁
Power of motor P = 𝑇
60

2𝜋𝑋 15
= 𝑋 10.66
60

P = 16.74 Watt.

Select Motor: P = 30 watt & N= 30-45rpm.

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6.6. Design of Shaft (ASME CODE).

Since the loads on most shafts in connected machinery are not constant, it is
necessary to make proper allowance for reduce the harmful effects of load
fluctuations.
According to ASME code permissible values of shear stress may be calculated
from various relations.

For commercial steel shaft, Actual shear stress τ act= 55N/mm

2

𝝅
T= x τ act x d3
𝟏𝟔

𝜋
10.66 x 103 = x 55 x d3
16

d=9.956mm

d=10mm Ref: - PSG Design data book.

6.7. Selection of Shaft Ball Bearing:

The shaft having diameter 10 mm so that we can select ball bearing of 10 mm

inner dia. No. 6200 (from Design Data Book Page. No. 4.13)

Total load on bearing = 5 kg. (Approx.)

= 49.05 N
49.05
Radial load on each bearing = = 24.525N
2

To calculate equivalent dynamic load

Pe = (XVFr + YFa) Ka
Ka = load factor
Pe = equivalent dynamic load, N
Fr = radial load, N
Fa = axial load, N
X = radial factor
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Y = axial factor
V = rotation factor (Assume = 1)
For bearing Axial load is zero
Pe = V. Fr. Ka

= 1* 24.525 * 2

Pe = 49.05 N

Lℎ10 ∗60∗𝑛
L10 = 106

Lh10 from graph 4.6 PSG Design data book for 20000 rpm maximum speed of
ball bearing is 200000 Hours. PSG Design data book P.No. 4.13.

200000∗60∗45
= 106

L10 = 540 million revolutions

Basic dynamic capacity,

𝐶 10⁄
L10 = (𝑃 ) 3
𝑒

C = (𝐿10 )0.3 * Pe

= (540)0.3 * 49.05

C = 323.859N ≤ 4000 N (Bearing is safe.) PSG D.D.Book.P.No.4.13.

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7. ADVANTAGES & APPLICATIONS

7.1. Advantages:

1) This type of robot is easily made with the cost is also at a perishable
level for multipurpose industrial applications.
2) It can be controlled easily by any skilled person.
3) The operation of the robot is advanced level with multiple use.
4) Easy to operate & low-cost system for multiple use robot.

7.2. Application:

The multipurpose robot uses for material handling, Surveying, fire detection &
obstacle detection applications having the automatic operation using special
robotic vehicle.

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 Design and Development of Multipurpose Robot.

8. EXPECTED OUTCOMES

Automated multipurpose robot uses for material handling, Surveying, fire

detection & obstacle detection applications by using wireless electronics
control units. The robot developed by us is electrically wireless remote
operated. Thus, other industrial robot systems are costly; this robot will be
modified to fully automate controlling by using higher configuration wireless
remote controller. This robot can perform specified work in minimum time,
speed, reliably and with high accuracy so that it does not need any regular
attention after some modification. We will develop just a model of the
multipurpose robot. In this we have used control with required specifications.
But if we want to develop an actual for multipurpose robot that is to be used in
all applicable the field, we can use the components & controls with higher
specification and capacity to increase the efficiency of the system.

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 Design and Development of Multipurpose Robot.

REFERENCES PAPERS

[1] G. BalaKrishnan, D Mohan Kumar, C. Jagadeesh Vikram,

P.Naveenchandran, Design And Fabrication Of Robotic Trolley For Material
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[2] Kedar Nath Hota, , P K Das, Manoj Kumar Behara,A Study on Industrial
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[3] Yi Jiangang, Xu Pin, Ju Siwei, Wei Pengfei, Discussion on the Construction

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[4] M. T Islam, S A Mishu, M R Islam and T Billah, Design & fabrication of a

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[5] Yusuf Buyruk and Gülen Ça˘gda¸s, ArticleInteractive Parametric Design

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[6] Pratikkumar R. Hingu, Dhruv N. Panchal, Industrial Robot and

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[7] Ravikumar Mourya, Amit Shelke, Sourabh Satpute, Sushant Kakade,

Manoj Botre, Design and Implementation of Pick and Place Robotic

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Arm,International Journal of Recent Research in Civil and Mechanical

Engineering (IJRRCME),2015, Vol. 2, Issue 1, pp:232-240.

[8] Md. Tasnim Rana & Anupom Roy, Design and Construction of a Robotic
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[9] S Senthilraja, R Gangadevi and M Thirugnanam, Design and fabrication of

three axis robot for material handling in chemical industries, Journal of
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[10] S. Ananth, P. Vijayakumar, K. Guruprasath & V. Kalaiyarasan, Design

And Fabrication of Material Handling Robot for Multi Station, International
Journal of Mechanical Engineering and Technology (IJMET),Volume 8, Issue
3, March 2017, pp. 142–148.

[11]Aydin Azizi,Poorya Ghafoorpoor Yazdi,Ali Al Humairi, Mohammad

Alsalmi, Basma Al Rashdi, Zuwaina Al Zakwani,Sultan ALSheikaili, Design
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[12] Janmey Panchal, Akib Mansuri, Samir Mansuri and Abhishek Chauhan,
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[13] Kunal N. Palasdeokar, Abhishek A. Chavan, Mihirkumar N. Panchal,

Rohini D. Patil,Design, Analysis and Fabrication of Pick & Place Colour

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 Design and Development of Multipurpose Robot.

Sorting Robotic Arm , International Research Journal of Engineering and

Technology (IRJET),Volume: 09 Issue: 04 | April 2022,pp.236-242.

[14] Samarth Nimgaonkar, Pranali Chaudhari, Komal Ghadge, Surekha

Kamble, Jayashri Chopade, Design and Development of a 3-axis Pick and
Place Robot for Industrial Use, International Research Journal of Engineering
and Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 01 | Jan
2023,pp.366 -369.

[15] Samadhan Bhavar, Nikhil Koshti, Shantanu Kulkarni, Vishal Chavan,

Design and Development of Multipurpose Automatic Material Handling Robot
with implementation of Virtual Twin, Digital Manufacturing and Model based
system engineering, International Research Journal of Engineering and
Technology (IRJET) e-ISSN: 2395-0056 Volume: 10 Issue: 04 | Apr
2023,pp.448- 451.

[16] Shani Sharif a, T. Russell Gentry b and Larry M. Sweet, Human-Robot

Collaboration for Creative and Integrated Design and Fabrication Processes,
33rd International Symposium on Automation and Robotics in Construction
(ISARC 2016),pp.1-8.

[17] Prof. C. C. Jadhav, Mr. Ruturaj Kale, Mr. Abhijit Kukade, Mr. Gaurav
Khandalkar, Mr. Sandip Ingale, Mr. Rohan Bhandare, Design and
Manufacturing of Robotic Arm for Industrial Applications, International
Journal of Engineering Technology and Management Sciences, Issue: 3
Volume No.7, 2023,pp.235-243.

[18] Manjunath G, Ashik R, Aadhithya Roy, Abay Dev K S, Vishnu Suresh,

Design And Fabrication Of Automatic Material Handling Robot, Journal of
Emerging Technologies and Innovative Research (JETIR), 2019 JETIR May
2019, Volume 6, Issue 5,pp.215-217.

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 Design and Development of Multipurpose Robot.

[19] Sarang A Katkar, Girish Karikatti, Sujay Ladawa,Material Handling Robot

with Obstacle Detection, International Journal of Engineering Research &
Technology (IJERT), Vol. 4 Issue 05, May-2015,pp. 560-566.

[20]Yuanyuan Liu, Design and Improvement of New Industrial Robot

Mechanism Based on Innovative BP-ARIMA Combined Model, (IJACSA)
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14, No. 8, 2023,pp. 636-642.

[21] C. Sowmya Dhanalakshmi1, P. Madhu, N. Hemachandran, V.E.

Muthukumar and Harish Arvinth.L.B, Design and Fabrication of Robotic Arm
for the assembly of Phase Selector Switch, IOP Conf. Series: Materials Science
and Engineering 1059 (2021) 012032,pp.1-9.

[22] Avinash N Bhat, Abhishek Yalnaik, Design and Fabrication of Pick and
Place Robot using Microcontroller, International Journal of Science and
Research (IJSR), Volume 10 Issue 11, November 2021,pp.1143–1148.

REFERANCES BOOKS

[23] PSG design data, Coimbatore, first edition Kalaikaikathir

Achchagam,2003.

[24] Khurmi R. S.,Gupta J.K., Atextbook of machine design, first edition, S.

[25] Bhandari V.B.,Design of machine elements,eighteenth edition, MC graw-

hill companies,2003.

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