Robotics Structure Design

Report

for

Final Academic Year 2/2563

Course: 010243106 Robotics Structure Design

Section 1

Student name: Student ID: _____________________

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1. What are the advantages and disadvantages of gear drives when compared with other drives, such as v-belt, timing belt and chain drives? Please describe at least 10 topics. (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

2. Please write down the gear terminology for each arrow. (1 point)

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3. What is the Lewis form factor for gears calculation? What are the parameters which used for to find the Lewis value? (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

4. How many types of gear manufacturing processes are there? (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

5 . Please describe the advantages and disadvantages of helical gear when compared with spur gear. (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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6. Please reasonable explain and sketch a picture for the suitable gear set which may be used for an AGV wheel drive. (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ The following problem used for the questions 7-8.

A 3-stage gear train designed for a power transmission of 37 kW motor. The input revolutionary speed being 1,450 rpm. The first couple is the helical gears Z1 and Z2 with a reduction speed ratio i1 is 3. The second couple is also the helical gears Z3 and Z4 with a reduction speed ratio i2 is 5. The last coupler is the spur gears Z5 and Z6 with a reduction speed ratio i3 is 7. The real gear train shown in Figure 1 and its diagram shown in Figure 2. Please answer the following questions.

Figure 1. Gear Train

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Figure 2. Diagram of Gear Train

7. Please calculation the maximum torque which loading on a shaft of 1, 2, 3 and

4, respectively. (2 points) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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8. From the above gear train. The couple of the last spur gears are Z5 and Z6. Define a normal pressure angle, 

n is 20 FD (Full Depth). The teeth number of the

pinion must not less than 22. Working condition is a little impact load also. The material for manufacturing is a grey cast iron ASTM 50. Please find the dimensions of this spur gear such as module, pitch diameter, width and a center distance between Z5 and Z6 shaft. Must be proof by the dynamic load (Fd) and bending load (Fb). (10 points) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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9. If we need to design a mini 6-axis robot arm for pick and place object. Please define the requirement and specification of mechanical design by yourself as below.

http://pubs.sciepub.com/ajme/3/6/26/index.html

9.1 Functionality (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 9.2 Reliability (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 9.3 Motion Range and Speed (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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9.4 Payload (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 9.5 Reach (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 9.6 Axes (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

10. From the topic 9. Please find example of standard parts which can buy from vendors (at least 10 parts). (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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11. From the topic 9. Please find example of manufacturing parts which may be fabrication by yourself (at least 10 parts). (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

12. Please explain why we always use the aluminum alloy for manufacturing the arm of robot. If we do not use this aluminum alloy. What are other material types that can be made of these parts? (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

13. Please describe and show stress equations which generated inside the following

robot parts. 13.1 Robot arm (Cantilever Beam) parts (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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13.2 Screw and nut joints for the fixed joints of robot parts (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 13.3 Servo motor shafts (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 13.4 Gripper parts (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 13.5 Bearings for revolute joint parts (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ 13.6 Gear train of servo motors (1 point) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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14. Two plates of cantilever beam robot arm 10 mm thick are joined by a double riveted lap joint as shown in figure below. The rivets are 5 mm in diameter. Find the bearing stress induced between the plates and the rivet, if the maximum tensile load P on the joints is 500 N. (2 points)

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15. For the assembly processes of mini robot arm. Why do we use the screw joint? Please find the advantages and disadvantages of screw joint compare to other joints such as rivet joint, welded joint, glue joint. (2 points) ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

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16. An eye bolt is to be used for lifting a load of 100 kN. Find the nominal diameter (d) of the bolt, if the tensile stress is not to exceed 300 MPa. Assume coarse threads. An eye bolt for lifting a load is shown in Figure below. The table is in the next 2 pages.

Let d = Nominal diameter of the bolt, and dc = Core diameter of the bolt. t = Permissible tensile stress for the bolt material. We know that external load applied (P), (5 points)

P = 

4 (dc

2)t

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Table of Design dimensions of screw threads, bolts and nuts according to IS : 4218 (Part III) 1976 (Reaffirmed 1996), Coarse series.

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(Continuous) Table of Design dimensions of screw threads, bolts and nuts according to IS : 4218 (Part III) 1976 (Reaffirmed 1996), Coarse series.

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17. A single row deep groove ball bearing number 210 (see table below) is used for a wheel drive of mobile robot. The bearing is to carry a radial load of 5,500 N and an axial or thrust load of 1,500 N. Assuming light shock load, determine the rating life of the bearing in the unit of revolution and hours if the average speed of wheel drive is 2,000 rpm. (8 points) Table of Basic static and dynamic capacities of various types of radial ball bearings.

Table Values of service factor (KS).

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Table Values of X and Y for dynamically loaded bearings.

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