STRESS ANALYSIS OF PICK AND PLACE ROBOT USING ANSYS Mani Singh 1,Pankaj Yadav 2,Shahikant Pandey 3,Sonaal Patil 4
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1 STRESS ANALYSIS OF PICK AND PLACE ROBOT USING ANSYS Mani Singh 1,Pankaj Yadav 2,Shahikant Pandey 3,Sonaal Patil 4 1,2,3,4 U.G.Students, Department Of Mechanical Engineering Shree L.R.Tiwari College Of Engineering ABSTRACT Robots are springing up everywhere like mushrooms having found a steady hold in the production industry. Not only do they increase the productivity and efficiency of the system, but they also improve the accuracy and the uniformity of the products. They are a sign of an ever developing technology. One of the most important indications would be the industrial pick and place robot.the design of a robot should be analyzed to ensure the specification and requirement by the user is fulfilled. Therefore, a stress analysis has been done on the pick and place robot using analytical calculation and design software of the robot s components and the assembly using ANSYS. This project discusses the results from the stress analysis including safety factor and proposes the measures to improve the future design of pick and place robot. Keywords- Ansys, Stress Analysis, Pick And Place Robot I. INTRODUCTION Robotics is the branch of engineering science & Technology related to robots, and their design, manufacture, application, and structural disposition. Robotics is related to electronics, mechanics, and software. Robotics research today is focused on developing systems that exhibit modularity, flexibility, redundancy, fault-tolerance, a general and extensible software environment and seamless connectivity to other machines, some researchers focus on completely automating a manufacturing process or a task, by providing sensor based intelligence to the robot arm. In this highly developing society time and man power are critical constrains for completion of task in large scales. One of the major and most commonly performed works is picking and placing of jobs from source to destination. Stress analysis is the process of comprehensiveness industrial testing based on the calculation of mechanical strain, stress and related deformation on application of load. It is an advanced computational method of applying load on a structure to determine its response. The analysis method is used to counter evaluating the effectiveness of FEA structural analysis based on the report for fatigue and failure analysis. Stress analysis facilitates accurate and reliable calculation of strain, distribution of load and deformation. It gives minimum number of errors and loopholes which ensure no product failure. It also gives cost effective solutions. The main of the structural stress analysis is to decide whether elements or their assortment known as the structure will behave as expected on loading. This includes numerical traditional techniques, computational simulation, modern testing techniques or the combination II. LITERATURE SURVEY The literature has been focused on the design analysis, stress analysis and to implement new system. shruti udameeshi[1] worked on the pick and place robotic structure given by an industry and performed vibrational analysis and structural analysis using ansys. Also provided a solution to reduce the natural frequency of the structure while performing
2 Dipak Aphale et.al [2] studied the programmable logic control(plc) based pick and place robot to give it the artificial brain for controlling its movement. Also electromagnetic gripper are introduced. S. Premkumar et. Al [3] designed a advance gripping technique consisting of a conventional gripping mechanism and pneumatic system, also carried the experiment such as gripping, sucking, lifting. Ms. Priya patil and M.G.Qaimi [4] developed the 2 DOF robot and carried out the analysis for grippers and shaft using the software ANSYS. Nisha et.al.[5] studied the vision assisted robotic arm for pick and place application. Jeevan et.al. [6] analyzed the design of the pick and place robot, modal analysis and stress analysis was carried out on different type of cross sections consisting of circular, hollow circular and square. Ravikumar mourya et.al [7] designed the 4 DOF pick and place robot for placing cylindrical objects from conveyor to another, they also carried out the stress analysis on shoulder,elbow and fingers. Sanketkumar patel[8] studied the use of the vaccum gripper also the kinematic analysis of the robot. Bhavesh kaila et.al[9] presented the use of the pick and place robot in ceramic industry. B.o.omijeh et.al[10] designed the vehicle consisting of the robotic arm an did the analysis of it,electrical systems and software are also given in this paper. Rosidah sam et.al[11] studied the components and working of robot at the workstation,analysis of the robotic arm base was also done which includes total deformation and stress distribution on the base. III. PROBLEM DEFINITION We visited in company in Silwasa and saw the Pick and Place Robot working very carefully. So, we decided to do the analysis on this type of pick and place robot by ANSYS software to calculate stress acting on robot during loading and also by analytical method. Fig 1-Geometry we got from industry IV. GEOMETRIC MODELLING AND ANALYSIS We analyzed the components of the given robot under the different loading condition, the gripper has been kept rigid. The analysis performed on the structure is the structural analysis.
3 Fig 2.1 stress variation in frame Fig 2.2 stress variation in pin 1 Fig 2.3 stress variation in arm Fig 2.4 stress variation in pin 2 V. METHODOLOGY To find out the analytical solution the main assumption is that the loading condition makes the arm like a beam is in bending. Hence, by using bending equation : Stress value can be find out by formula : Therefore, VI. RESULT AND DISCUSSION To analyse the design the structural analysis has been performed by using software ANSYS R15.0. The result shown as snap shot from the ANSYS. The result obtained is then compared
4 with the analytical result that is obtained by using the basic formulas of the strength of material. The result is calculated for lifting a load of say N. A) To calculate maximum payload of robot The above result shown is calculated for carrying a load of 2500N and for this the robot is safe. Hence to calculate the maximum load for which the robot will not fail gives the maximum load carrying capacity of robot in other terms it is also called as the payload of the robot. By varying the load from 2500N N the robot will not fail for any cases. Maximum stress generate i.e. approx MPa for the load of N For structural steel - A36 steel plate Yield strength- 250 MPa Factor of safety- 3 So, while designing the robotic arm the load should be less than N calculated based on yield strength criteria for robot. Hence from the above result the model is best suited for Lifting a load less than 7500N Fig 3. Stress vs load graph VII. CONCLUSION When we are applying the load of 2500N then this load is safe for the required mechanism of the robot. When the load is increased to 7500N or more then our mechanism will fail. REFERENCE [1] Shruti Udameeshi, Gayatri S Patil, Mr. Vinaay Patil, Finite element analysis of pick and place robotic structure, International Research Journal of Engineering and Technology (IRJET) Volume: 03 Issue: 09 Sep-2016 [2] Dipak Aphale, Vikas Kusekar, Plc Based Pick And Place Robot With 4 Dof, International Journal Of Innovative Research In Science Engineering And Technology, Vol. 5, Issue 2, (2016)
5 [3] S. Premkumar, K.Surya Varman, R.Balamurugan, Design And Implementation Of Multi Handling Pick And Place Robotic Arm, International Journal Of Engineering Trends And Technology (Ijett) Volume 33 Number 3 (2016) [4] Ms. Priya. P. Patil1 Prof. M. G. Qaimi2, Design and development of 2 DOF robot, International Journal for scientific research and development, Vol. 4, Issue 05,(2016) [5] Nisha, Dinesh Kumar, Sekar And Indira, Vision Assisted Pick And Place Robotic Arm,Advances In Vision Computing International Journal (Avc) Vol.2, No.3, (2015) [6] Jeevan, Dr. Amar Nageswara Rao, Modeling And Analysis Of Robot Arm Using Ansys, International Journal Of Scientific Engineering And Technology Research, Vol 04, Issue 33, (2015) [7] Ravikumar Mourya, Amit Shelke, Sourabh Satpute, Sushant Kakade, Manoj Botre, Design And Implementation Of Pick And Place Robotic Arm, International Journal Of Recent Research In Civil And Mechanical Engineering, Vol. 2, Issue 1, Pp: ( ), (2015) [8] Sanketkumar R. Patel, A Review On Design And Analysis Of Pick And Place Robot Using Vacuum Gripper, International Journal For Scientific Research & Development Vol. 3, Issue 04,( 2015) [9] Bhavesh Kaila1 Hardik Acharya, Modeling (Mechanical) And Analysis Of Robo-Arm For Pick And Place Operation In Ceramic Industry, International Journal For Scientific Research & Development Vol. 2, Issue 09, (2014). [10] B.O.Omijeh, R.Uhunmwangho, M.Ehikhamenle, Design Analysis Of A Remote Controlled Pick And Place Robotic Vehicle, International Journal Of Engineering Research And Development, Volume 10, Issue 5, Pp.57-68,(2014). [11] Rosidah Sam, Kamarul Arrifin, Norlida Buniyamin, Simulation of Pick and Place Robotics System Using Solidworks Softmotion, International Conference on System Engineering and Technology,( 2012).
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