Design and Implementation of Six Axis Drilling Robot

Project Title

Design and Implementation of Six Axis Drilling Robot

Project Area of Specialization RoboticsProject Summary

In this project each axis will be control by servo/stepper motors. The robot is programmed and it moves one point to another automatically through a webserver.

Our working ideas are as follows:

The project comprises of software & hardware (Electrical and mechanical).

At the initial stage we first make the robot's structure up to 3 to 4 feet in height, for implementing our project prototype.

Actually there are 6-axis so there working are as follows:

• Axis 1: Located at the robot base, allows the robot to rotate from left to right. It moves 180 degree
• Axis 2:  Allows the lower arm of the robot to extend forward and backward. It move 120 degree
• Axis 3: Extends the robot's vertical reach. It allows the upper arm to raise and lower. It move 120 degree working in conjunction with the axis 5.
• Axis 4: Aids in the positioning of the end effector and manipulation of the part. It move 90 degree
• Axis 5: Allows the wrist of the robot arm to tilt up and down. It move 90 degree.
• Axis 6: Which is wrist of the robot arm. It is responsible for a twisting motion, allowing it to rotate freely in a circular motion, both to position end effectors and to manipulate parts.
• We use controller (e.g. raspberry pi, Arduino). On the controller we connects the camera to locate the point for drilling. Through Controller (which we will use) we also connect the external circuit (motor driver). The purpose to use motor driver is to connect servo and stepper motor with it which can drive high current.
• We also use the concept of GUI (graphical user interface) to build the user friendly robot. GUI is for camera monitoring, panel controlling (left, right, up and down) and speed control of motors.
• At base Robot will be drive using motors.
  • All outputs will be controlled through GUI server.

Project Objectives

Our objective is to make six axis industrial robot which can drill, paint, welding, items pick and place etc. in the Industry. The effective thing in this robot is that this robot can move and work freely as compare to other robots which are fixed at one location in the industry. So to make this type of robot balancing of the robot is the important part when it will move freely in the industrial environment. Our robot will move through tires connected through motors. Now the second thing is that when we drill (we are drilling Wood/PCB) from the robot vibration is the major issue so we have to make the robot of that type which can handle vibrations when it will move freely. Now the whole robot's is monitored and controlled on a screen anywhere due to a webserver which will be GUI based.Our objective is to make six axis industrial robot which can drill, paint, welding, items pick and place etc. in the Industry. The effective thing in this robot is that this robot can move and work freely as compare to other robots which are fixed at one location in the industry. So to make this type of robot balancing of the robot is the important part when it will move freely in the industrial environment. Our robot will move through tires connected through motors. Now the second thing is that when we drill (we are drilling Wood/PCB) from the robot vibration is the major issue so we have to make the robot of that type which can handle vibrations when it will move freely. Now the whole robot's is monitored and controlled on a screen anywhere due to a webserver which will be GUI based.Our objective is to make six axis industrial robot which can drill, paint, welding, items pick and place etc. in the Industry. The effective thing in this robot is that this robot can move and work freely as compare to other robots which are fixed at one location in the industry. So to make this type of robot balancing of the robot is the important part when it will move freely in the industrial environment. Our robot will move through tires connected through motors. Now the second thing is that when we drill (we are drilling Wood/PCB) from the robot vibration is the major issue so we have to make the robot of that type which can handle vibrations when it will move freely. Now the whole robot's is monitored and controlled on a screen anywhere due to a webserver which will be GUI based.

Project Implementation Method

Our Method To build this robot will be that , initially we will work on the structure , as the structure design is very important in a robotic system.

Then we will work on motors and make algorithm for it and we will monitor is working and make it work according our requirement using programming .

Using raspberry pi we will shift our system wo web server , as raspberry pi gives option for wifi.

this is some of our methodology. We will make changes in it with respect to time with our requirment

Benefits of the Project

6 Axis robot with robust mechanism is the requirement of the industries in this century so its benefit will be as follows :

** It will be Robust

**User Friendly

**Can be Accessed from a good Far Distance wirelessly

**Saves Our Time.

**Can work where Human Cannot work.

**Accuracy

Technical Details of Final Deliverable

• We use controller (e.g. raspberry pi, Arduino). On the controller we connects the camera to locate the point for drilling. Through Controller (which we will use) we also connect the external circuit (motor driver). The purpose to use motor driver is to connect servo and stepper motor with it which can drive high current.
• We also use the concept of GUI (graphical user interface) to build the user friendly robot. GUI is for camera monitoring, panel controlling (left, right, up and down) and speed control of motors.
• At base Robot will be drive using motors.
  • All outputs will be controlled through GUI server.

Final Deliverable of the Project Hardware SystemType of Industry IT , Medical , Others , Security Technologies RoboticsSustainable Development Goals Decent Work and Economic Growth, Partnerships to achieve the GoalRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	79000
Raspberry pi 3b plus	Equipment	1	6000	6000
Pi Camera	Equipment	1	4000	4000
accesories of raspberry pi( hdmi , mouse sd card etc)	Equipment	1	1500	1500
Gear Motors	Equipment	4	4000	16000
stepper motors	Equipment	6	3500	21000
structure base	Miscellaneous	1	10000	10000
structure arm	Equipment	1	20000	20000
other connection things wires , connector and other	Equipment	1	500	500