Document Type
Thesis
Date of Award
5-31-1985
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Michael Pappas
Second Advisor
Harry Herman
Third Advisor
Bernard Koplik
Abstract
The purpose of this thesis is to study the broad concepts and applications of robots in industry and to evaluate the Integrated Mechanisms Program (IMP) for the development of models to suit the requirements of an industrial robot.
IMP is a programmed system for the computer-aided-design and analysis of mechanisms. The use of IMP to analyse and design mechanisms is done through a related problem oriented language which allows a variety of joints to be used.
This thesis describes a general procedure for designing robotic arms. Two mechanisms are modelled using IMP; the first is a jointed arm robot executing motions analogous to those that would be executed by a human arm; the second is a combination of a jointed arm robot and a cylindrical coordinate robot. Initial design specifications are selected and the mechanisms are tested in three different modes. The kinematic mode is first executed to test the mechanisms against an initial design specification of the work envelope and the velocity of the end of arm tool, and its limits of travel. The static mode is analysed in two stages; the first involves the search for an equilibrium position in the absence of all physical constraints; the second involves the study of residual forces and torques in specified positions in the work envelope. The dynamic mode is executed to study the dynamic forces and torques arising from the motion of the end of arm tool in the work envelope with its maximum velocity. This analysis leads to the specification of the input torque requirement.
The gripper mechanism is not analysed along with the rest of the mechanism since this is not considered to be a part of the robot arm and may be chosen to suit the required application. A note is added on this topic and two mechanisms are described which meet the requirements for industrial use.
The thesis is concluded by the comparison of the two mechanisms acting as point-to-point robots. The final specifications are set. A note is added on the mechanisms used for the mechanical stops signifying the limits of travel of each axis of the mechanism.
Recommended Citation
Somnay, Mohan J., "Development of robotic arm models using the integrated mechanisms program" (1985). Theses. 3475.
https://digitalcommons.njit.edu/theses/3475
