Seven Degree of Freedom Robotic Arm

Project Title

Seven Degree of Freedom Robotic Arm

Project Area of Specialization RoboticsProject Summary

7DOF Robot short summary

In the painting industry workers while painting get inhale the paint drops into lungs which cause cancer. Instead of using different filters even then several cases were recorded. To overcome such a problem we proposed to use 7DOF robot in place of human, which will not only protect human being from the hazardous effect of paint particles but also enhance the capability of working speed and quality.

The proposed Robot consists of 6 axis stepper motors with 7degree of freedom (7DOF) including hydraulic or pneumatic gripper. It will be programmable and can be used for customized applications. It will be portable and very easy to operate.  It can reach to 2 feet (24”) from the axis of rotation. Its accuracy is up to 1mm and repeatability up to 0.75mm. In this robot 6 stepper motors with different gear ratios will be used. All its mechanical parts can be printed by using 3D printer in the Lab. Details of the motors and gears are as follows:

S #	Name of motors	Name in project	Gear ratio	Movement in degrees
1	Nema17 stepper	J1 motor	20:1	360
2	Nema23 stepper	J2 motor	50:1	90
3	Nema17 stepper	J3 motor	50:1	180
4	Nema11 stepper	J4 motor	14:1	360
5	Nema17 stepper	J5 motor	stack	360
6	Nema14 stepper	J6 motor	19:1	180
8	Gripper			Open/close

S #

1

2

3

4

5

6

8

Project Objectives

Project objectives

The main objective of this project is the design and development of 7 DOF robot for painting 3D parts automatically.

The sub objectives are given below

The sub objective of research is

• 3D design of robotic parts in solid works
• Simulation of robot in Solid works
• Printing 3D parts using 3D printer
• Purchasing of stepper motors, drivers, and gears from market
• Assembling of robotic arts including 3D printed parts, motors and gears for development of robot
• Programming of robot for painting 3D parts
• Application of robot for painting 3D parts such as model of a car

Project Implementation Method

Project methodology

The methodology of this project will be divided into four phases 1) Design and simulation, 2) 3D printing, 3) Development of robot, and 4) Software development and testing robot for painting 3D parts. The project methodology is indicated in the schematic

Phase 1

In this phase we start the project from the 3D designing of all the robot parts which will be used in the robotics hand. After the success of this step we move to simulate all these design in the solid work. After the success of this step we will move to phase 2 and if fails we have to repeat all the above steps again till it succeed.

Phase 2

In this phase of the project we print all the parts which were designed in the solid work by using a 3D printer. And we make check and balance on each step after equal intervals of time so that no part will miss in the beginning or till the end. When we print all the parts successfully we move to the phase 3 of this project.

Phase 3

In this we assemble all the printed parts into one each other as per designed. The development of all those parts and also the stepper motors into it. In this phase we also install all the drivers and electronic parts as per requirements. After the completion of this step successfully we move to final and last step of this project software controlling and testing.

Phase 4

In this step we go for the software installation feasible with this project and then finally the robot will be for painting 3D parts such as coloring as car model.

Benefits of the Project

Project Benefits

In the painting industry the 3D parts are painted by skilled workers which cause very serious health issues such as cancer. The aim of this project is to replace this task by a robot which will protect human being from the hazards of paint particles.

The main advantage of this project is to replace the human with robot in hazardous atmosphere. Ultimately this robot will speed up the industrial process which will reduce the cost of product.

Technical Details of Final Deliverable

S#	Names of the items used	Cost per piece	Number required	Total cost
	PLA material roll for 3D printing	3000	2	6000
	Nema17 gear stepper motor	3500	3	10500
	Nema23 gear stepper motor	13500	1	13500
	Nema11 gear stepper motor	3000	1	3000
	Nema14 stepper motor	3500	1	3500
	Bearing# 32009	1500	2	3000
	Bearing# 30206	800	2	1600
	Bearing# 30204	800	1	800
	Bearing# 30203	750	1	750
	Bearing# 688	200	3	600
	Arduino Mega	1250	1	1250
	Metric roller chain	300	2	600
	Timing belt	50	3	150

S#

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

1.  

Final Deliverable of the Project Hardware SystemCore Industry ManufacturingOther Industries Others Core Technology 3D/4D PrintingOther Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

S#	Names of the items used	Cost per piece	Number required	Total cost
	PLA material roll for 3D printing	3000	2	6000
	Nema17 gear stepper motor	3500	3	10500
	Nema23 gear stepper motor	13500	1	13500
	Nema11 gear stepper motor	3000	1	3000
	Nema14 stepper motor	3500	1	3500
	Bearing# 32009	1500	2	3000
	Bearing# 30206	800	2	1600
	Bearing# 30204	800	1	800
	Bearing# 30203	750	1	750
	Bearing# 688	200	3	600
	Arduino Mega	1250	1	1250
	Metric roller chain	300	2	600
	Timing belt	50	3	150