ACKNOWLEDGEMENT

We Five students of Mechanical Engineering of 3rd year 5th semester in

CHANDIGARH UNIVERSITY are preparing a project HYDRAULIC ARM. We
whole heartedly express our sincere gratitude to our project incharge Mr. Vishal
who guided us for the completion of the project. We are also thankful to all our
teachers helped us by explaining on critical aspect of topics related to the project.
We are also grateful to the assistances of Workshop for permitting us to have
some help from them. We would like thank all of the faculty member of all other
respective departments for their intimate cooperation throughout the period of
project completion.
 INTRODUCTION

Hydraulic Arm is a system which coupled by machines and hydraulic. It is widely

applicable in all kinds of large engineering equipments. Such as arm frame of
crane. The arm system of the redundant freedom, strong, nonlinear, coupled
with rigid and flexible characters. In hydraulic robotic arm the dynamic
differential equation is built with the driving force of the hydraulic cylinder as the
main force.

By using the PD controlled theory without de coupling and rank decreasing

only with feedback from control of the arm and position pose and movement
the relationship between the hydraulic system and the end positions & pose is
studied. The simultaneous result prove the movement equation built by this
way can clearly describe each dynamic character of the mechanical arms.

A hydraulic drive system is a drive or transmission system that uses

pressurized hydraulic fluid to power hydraulic machinery. The term hydrostatic
refers to the transfer of energy from flow and pressure, not from the kinetic
energy of the flow.

A hydraulic drive system consists of three parts: The generator (e.g. a

hydraulic pump), driven by an electric motor, a combustion engine; valves,
filters, piping etc. (to guide and control the system); and the actuator (e.g. a
hydraulic motor or hydraulic cylinder) to drive the machinery.

INTRODUCTION ABOUT THE MECHANISM

A robotic arm which is hydraulically operated and controlled by syringes

filled with some fluid. It consists of various parts connected to each other in
a pre-designed manner which are guided in a constrained way to obtain
required output.
1.1 APPLICATION

These arms are used in assembly lines of mega factories to assemble

various parts of a product and also to paint vehicles. They are also used in
earth movers to pick up heavy weight and keep them where required. Same
principle is being used in JCBs, automobile lifters, etc.

1.2 PARTS
In the mechanism, each part has been provided with certain degree of
freedom to move in a constrained way to guide other parts and also to pick up
small weight items and to place them wherever required. The complete
mechanism consists of a fixed vertical link. To its free end is connected or better
to say hinged, another horizontal link which is free to oscillate about that hinge in
an up-down way of motion. Tothis link is connected a slotted type mechanism
which consists of a slotted box which itself can oscillate about its hinge and in it
is a sliding link which can come out of the slot to have the slider like motion. To
this slider is connected a surface, underneath which are attached 4 spoons
acting as arm to pick up the items. The entire mechanism is fixed on a rack and
pinion type mechanism to allow degree of freedom of the mechanism as a whole
to rotate by 130degrees.

1.3 Hydraulic actuation

All the movements above are controlled hydraulically by syringes
attached to each one. The hydraulic supply acts like the arms heart and
muscles. It provides the energy for pushing, pulling, turning and lifting
 Principle of a Hydraulic Arm

Pascal's law is the basis of hydraulic drive systems. As the pressure in the
system is the same, the force that the fluid gives to the surroundings is
therefore equal to pressure area. In such a way, a small piston feels a
small force and a large piston feels a large force. The same principle applies
for a hydraulic pump with a small swept volume that asks for a small torque,
combined with a hydraulic motor with a large swept volume that gives a
large torque. In such a way a transmission with a certain ratio can be built.
Most hydraulic drive systems make use of hydraulic cylinders. Here the
same principle is used a small torque can be transmitted into a large force.
By throttling the fluid between the generator part and the motor part, or by
using hydraulic pumps and/or motors with adjustable swept volume, the
ratio of the transmission can be changed easily. In case throttling is used,
the efficiency of the transmission is limited. In case adjustable pumps and
motors are used, the efficiency, however, is very large. In fact, up to around
1980, a hydraulic drive system had hardly any competition from other
adjustable drive systems.
Nowadays, electric drive systems using electric servo-motors can be
controlled in an excellent way and can easily compete with rotating hydraulic
drive systems. Hydraulic cylinders are, in fact, without competition for linear
forces. For these cylinders, hydraulic systems will remain of interest and if such
a system is available, it is easy and logical to use this system for the rotating
drives of the cooling systems, also. An important advantage of a hydraulic drive
is its high power density: the mass of a hydraulic drive is several times smaller
than the mass of an electric drive of the same power.

PASCALS LAW

INTRODUCTION
Earlier, weights were lifted using pulleys, levers, block and tackles, etc.
Movements for a ships rudder or steering a vehicle where achieved by
mechanical linkages like cams, levers, couplings, and gears which made
the system complicated. These manual or mechanical methods of operation
had several limitations. They also involved huge man power and long
working hours for a particular job. As the population and technology
increased exponentially, the demand for quicker and easier to operate
equipment increased. To cater to this need, hydraulic machines were
introduced.
PASCAL'S PRINCIPLE AND HYDRAULICS

Pascal's Principle
Blaise Pascal was a French mathematician, physicist and religious
philosopher who lived in the mid-seventeenth century. He made some
significant observations about fluid and pressure. He noticed that the shape
of a container had no effect on pressure. He also noticed that pressure
applied to an enclosed fluid is transmitted undiminished to every part of the
fluid, as well as to the walls of the container. When it says "enclosed fluid,"
that means that in order for Pascal's Law to be true, you have to be looking
at a liquid in a closed container.

Pascal's Principle and Hydraulics

Hydraulic systems use incompressible fluids, such as oil or water, to
transmit forces from one location to another within the fluid. Hydraulics are
used in most breaking systems. Pascal's law states that when there is an
increase in pressure at any point in a confined fluid, there is an equal
increase at every other point in the container.
Therefore Pascal's law can be interpreted as saying that any change in
pressure applied at any given point of the fluid is transmitted undiminished
throughout the fluid.

How do Hydraulics Work?

Imaging if you have a U-tube filled with water and pistons are placed at each
end, pressure exerted against the left piston will be transmitted throughout the
liquid and against the bottom of the right piston. The pressure that the left
piston exerts against the water will be exactly equal to the pressure the water
exerts against the right piston.
Now suppose the tube on the right side is made wider and a piston of a
larger area is used; for example, the piston on the right has 10 times the
area of the piston on the left. If a 1 N load is placed on the left piston, an
additional pressure due to the weight of the load is transmitted throughout
the liquid and up against the larger piston. The additional pressure is
exerted against the entire area of the larger piston. While the pressure
exerted is the same, since there is 10 times the area, 10 times as much
force is exerted on the larger piston. Thus, the larger piston will support a
10 N load - ten times the load on the smaller piston.

Pascal's Law and Mechanical Advantage ----Pascal's law

allows forces to be multiplied.
Generally, the mechanical advantage is calculated as:
MA = (the distance over which force is applied) (the distance over
which the load is moved)
Applied to the system shown below, such as a hydraulic car lift, Pascal's
law allows forces to be multiplied. The cylinder on the left shows a
cross-section area of 1 square inch, while the cylinder on the right shows a
cross-section area of 10 square inches. The cylinder on the left has a
weight (force) on 1 pound acting downward on the piston, which lowers the
fluid 10 inches. As a result of this force, the piston on the right lifts a 10
pound weight a distance of 1 inch.
The 100 pound load on the 1 square inch area causes an increase in
pressure on the fluid in the system. This pressure is distributed equally
throughout and acts on every square inch of the 10 square inch area of the
large piston. As a result, the larger piston lifts up a 1000 pound weight. The
larger the cross-section area of the second piston, the larger the mechanical
advantage, and the more weight it lifts.
The formulas that relate to this are

Area1/Area2= Distance moved 2/Distance moved 1

This system can be thought of as a simple machine (lever), since force is

multiplied.The mechanical advantage can be found by rearranging terms
in the above equation to:
Mechanical Advantage(MA) = D1/D2 = A2/A1
For the sample problem above, the MA would be 10:1 (10 inches/ 1 inch
or 10 square inches / 1 square
APPLICATIONS OF PASCALS LAW
Gases are easy to squash: everyone knows how easy it is to squeeze a
balloon. Solids are just the opposite. If you've ever tried squeezing a block
of metal or a lump of wood, with nothing but your fingers, you'll know it's
pretty much impossible. But what about liquids? Where do they fit in? You
probably know that liquids are an in-between state, a bit like solids in some
ways and a bit like gases in others. Now, since liquids easily flow from place
to place, you might think they'd behave like gases when you tired to
squeeze them. In fact, liquids are virtually incompressiblemuch like solids.
This is the reason a belly flop hurts if you mess up your dive into a
swimming pool. When your body smacks into the pool, it's because the
water can't squeeze downwards (like a mattress or a trampoline would) or
move out of the way quickly enough. That's also why jumping off bridges
into rivers can be very dangerous. Unless you dive correctly, jumping off a
bridge into water is almost like jumping onto concrete.
The fact that liquids don't compress easily is incredibly useful. If you've ever
fired a water pistol (or a squeezy washing-up liquid bottle filled with water),
you've used this idea already. You've probably noticed that it takes some
effort to press the trigger of a water pistol (or to squeeze water from a
washing-up bottle). When you press the trigger (or squeeze the bottle),
you're having to work quite hard to force the water out through a narrow
nozzle. You're actually putting pressure on the waterand that's why it
squirts out at a much higher speed than you move the trigger. If water
weren't incompressible, water pistols wouldn't work properly. You'd squeeze
the trigger and the water inside would simply squash up into a smaller
spaceit wouldn't shoot out of the nozzle as you'd expect.
If water pistols (and squeezy bottles) can change force and speed, that
means (in strict scientific terms) they work just like tools and machines. In
fact, the science of water pistols powers some of the world's biggest
machinescranes, tipper trucks, and diggers.

Hydraulics in practice
You can see hydraulics at work in this digger. When the driver pulls a
handle, the digger's engine pumps fluid into the narrow pipes and cables
(shown in blue), forcing the hydraulic rams (shown in red) to extend. The
rams look a bit like bicycle pumps working in reverse. If you put several
rams together, you can make a digger's arm extend and move much like a
person'sonly with far greater force. The hydraulic rams are effectively the
digger's muscles.
 Here's another example: a hydraulic hedge-cutter on the back of a tractor.
The cutting head needs to be sturdy and heavy to slash through hedges and
trees and there's no way the driver could lift or position it by hand.
Fortunately, the hydraulic controls do all that automatically: with several
hydraulic joints, a bit like a shoulder, elbow, and wrist, the cutter moves with
as much flexibility as a human arm.

Different models of Hydraulic Arm:

Robot Power
-The power for a robotic arm can either be electric, hydraulic, or pneumatic.
-Hydraulics is putting liquids under pressure
-Pneumatic is putting gases under pressure.
-The power supply acts like the robot's heart and muscles. It provides the
energy for pushing, pulling, turning and lifting.
CONCEPTUAL DESIGN & METHODOLOGY
CONCEPT
The basic concept used behind the operation is PASCALs LAW. This
law states that when a pressure is applied at one point of a fluid contained in
a constrained volume, then the pressure due to that force is equally
transmitted to all the points of the fluid, which are acted upon by the same
pressure. Using the same principle, we applied pressure to fluid in syringe
which is transmitted to other end of tube which is connected to a
syringe. This motion of the syringe is used to move the links or
parts of the mechanism which are attached to respective
syringes.

CONCEPTUAL DESIGN
1.) The slotted mechanism used in the design, increases its complexity but
at the same time increases its efficiency, ability, area of coverage.
2.) Rack and pinion mechanism used to provide rotatory motion
does its work smoothly without any jerks or shocks and giving more
degree of rotation and thereby increasing the area of effect.
3.) To increase overall stability and to avoid roll over or unbalancing due to
torque or extra weight in the front part, suitable counter weight is used in the
rear portion of the mechanism.
4.) Soap water having least compressibility and high efficiency is used as a
fluid in syringes.

METHODOLOGY
All the dimensions of the parts including their weights, their required
job, are decided effectively to obtain overall dimensions of the mechanism
and allow required degree of freedom and to obtain required motion and do
the required task.
 DEVELOPMENT OF MODEL

Material used:
1. Cardboard 90*110 sq. cm
2. Hard cardboard for arms (links) 3*50 sq. cm
3. Syringes (10 ml) 8 Pcs.
4. Wires (Aluminium) 50 cm long
5. Wood sticks for joints and connections 10 sticks
6. Tie 16
7. Vinyl tubes 100 cm
8. Paper tape
9. Glue gun with refills
10. Fevi-quick
11.Old battery
Components

a.Hydraulic Cylinder

A Hydraulic cylinder (also called a linear hydraulic motor) is a mechanical

actuator that issued to give a unidirectional force through a unidirectional
stroke. It has many applications, notably in engineering vehicles. Hydraulic
Fluids Petroleum Based Synthetic fire resistant water based fire-resistant.
Hydraulic cylinder as shown in fig 1.

By here in this project we used the syringe for substitute of the cylinder
because of the cost of the project and its a model and in future its
elaborate and use for industrial purpose or reality then in this model the
hydraulic cylinder are used. Syringe as shown in fig 2.
b. FLUID LINES AND FITTINGS

The control and application of fluid power would be impossible without

suitable means of transferring the fluid between the reservoir, the power
source, and the points of application. Fluid lines are used to transfer the
fluid, and fittings are used to connect the lines to the power source and the
points of application.

TYPES OF LINES

Three types of lines is used in this system are pipe (rigid), tubing (semi
rigid) and hose(flexible).

PIPES AND TUBING

There are three important dimensions of any tubular product - outside
diameter (OD), inside diameter (ID), and wall thickness. Sizes of pipe are
listed by the nominal (or approximate) ID and the wall thickness. Sizes of
tubing are listed by the actual OD and the wall thickness.

SELECTION OF PIPES AND TUBING

The material, ID, and wall thickness are the three primary considerations in
the selection of lines for a particular fluid power system. Since it determines
how much fluid can pass through the line in a given time period (rate of flow)
without loss of power due to excessive friction and heat. The velocity of a
given flow is less through a large opening than through a small opening. If
the ID of the line is too small for the amount of flow, excessive turbulence
and friction heat cause unnecessary power loss and overheated fluid.

In our project we have used two sections of clear 1/8 I.D. Vinyl tubing
of different lengths. Vinyl tubing as shown in fig 3.
Fig. 3
c. Arms

Arms is the vital part of this vehicle one is base arm in which the whole
structure of the arms are steady and second is the vertical arm in which the
gripper and all small arms are fixed.

It is the base arm in which the whole structure are attached or fixed and
by this arm the whole structure are stable. Base arm as shown in fig 4.

It is the vertical arm or the gripper joining arm in this arm the gripper are
joint by the screw and in for this arm the gripper is steady and the load
carrying capacity is defined by this arm. Vertical arm as shown in fig 5.

Fig. 4
 Fig.5

d. Grippers

Grippers are used to grasp and hold objects. The objects are generally work
parts that are to be moved by the hydraulic arm. These part handling
applications include machine loading and unloading, picking parts from a
conveyor, and arranging parts into a pallet.

Depending on the mechanism used for the purpose of gripping they can
be classified as:
1. Mechanical Grippers.
2. Adhesive Grippers.
3. Hooks, Scoops etc.
4. Vacuum Cups.
5. Magnetic Grippers.

e.Chasis

This is the base or a chassis for which the two arms and whole body are
fixed in this base. The base is made of steel and the lower hole the motor
are fixed and in the motor shaft the wheels are fixed for this reason the
vehicle or the hydraulic arm are move in anywhere and the motor are
operated by manually so in anywhere the we used this.

Powder coated Metal chassis for robots. Easy to mount the motors on place
by using normal motor mount nut. It can be used in skid steel configuration
or differential configuration (2rear wheels + 1 front castor wheel). The body
contains perforated holes for easy mounting of various size circuit boards
and other mechanical components. Chassis as shown in fig 8.
 Fig. 8

f. Lever
A lever is a machine consisting of a beam or rigid rod pivoted at a fixed
hinge, or fulcrum. A lever is a rigid body capable of rotating on a point
on itself. On the basis of the location of fulcrum, load and effort, the lever is
divided into three types. It is one of the six simple machines identified by
Renaissance scientists. A lever amplifies an input force to provide a greater
output force, which is said to provide leverage. The ratio of the
output force to the input force is the mechanical
advantage of the lever.

A lever works by reducing the amount of force needed to move an object or

lift a load. A lever does this by increasing the distance through which the
force acts. You will see that levers neither increase nor decrease the
amount of total effort necessary.

Fig. 9
 PROCEDURE
Firstly we take the some hard cardboard links and cut it for the arms.

Then take a cardboard base and the first arm fixed on the base for screw.

After that make holes on the arm for fixed the arms. Then the arms are
fixed by hard wooden sticks and also used washer for free movement of
arms.

There after take hard cardboard sheet for the small arms of the vehicle
and cut the arms by measurement of and hole of this arm for both poles
to fixed of the arms in the base structure. The holes are measured by the
screw measurement.

After that take two syringes and joint the syringes by a pipe and the pipe
is fixed by the glue in the syringe nozzle. And leave it for one hour to
permanently fix the glue.

After that in this joint syringes feel up by the water to follow the Pascals
law. And its essential that the water in the syringe without any vacuum or
without any bubbles.

Last the water fell up syringes are fixed in the arms to move the arms by
the pressure of the water or hydraulic.

At last to check the all joints and check the all movements of the robotic
hydraulic arm and ready the robotic hydraulic arm is ready to use. In this way
the robotic hydraulic arm is made.
 SAFETY PRECAUTIONS
When pressing on the syringe system, be sure to press only the input
plunger with your thumb and hold the output syringe with your other hand
to prevent the syringe from separation
-Do not use syringe as a squirt gun.
-Wear safety glasses.
-Follow all normal laboratory rules.
-Check each component before you set upyour hydraulic system. Do not
use damaged or worn components. Turn them in for repair or
replacement.
-Lift slowly and check the load often
-Avoid standing in the line of force
-Anticipate possible problems and take steps to avoid them.
 CONCLUSION

Our design uses extremely simple ideas and mechanisms to

achieve a complex set of actions and is intended to imitate the action of the
operators. However, these hydraulic arms are expensive for small scale
industries. If the major problem of high initial cost is addressed, a robotic
arm can be introducing in any industry to bring in automation. The
mechanical links and parts that have been fabricated are extremely simple.
The prepared mechanism has been successfully constrained and executed
to carry out the required work of picking up the weight of the object like table
tennis ball and to put them in to the placed at different location.

The Hydraulic Arm Will-

Reach the greatest distance to deliver a given object.
Pick up the heaviest possible object.
Deliver the most objects in a given amount of time.
Function in an assembly line.
Have a system to weight the object it picks up. Battle against another
arm of an object.
Rotate as well as reach and grab.
Dig and recover objects.

So, we are confident that the people will understand and join us on the
quest to make our planet a pollution free place to live in.
 FUTURE SCOPE

If more time and more efforts would have been put into the model, more
complexities could have been brought out. Moreover instead of manual
operation of syringes could have been replaced by pre-defined computer
programs or merely by pressing the switch operated. Further, more varieties
and more flexibility to add or replace any part according to requirements can
be done to improve its use and increase field of usage and to make it more
universal or flexible. As we know that the natural source of fuel is
decreasing day by day, we need to remove our dependency on these
sources with an alternative resource. We have to use some of alternative
Energies like Solar Energy, in our vehicle.
 REFERENCE

http://sciencekit.com/teacher-geek-hydraulics-pneumatics/c/1091955
http://en.wikipedia.org/wiki/Hydraulic_cylinder
http://enginemechanics.tpub.com/14105
http://www.howstuffworks.com/transport/engine
s- equipment/hydraulic.htm
http://www.slideshare.net/suchitmoon/syringe-actuated-mechani
cal- arm?next_slideshow=1
http://www.slideshare.net/suchitmoon/syringe-actuated-mechanical-a
rm- 32128867
http://www.slideshare.net/vivek6456/hydraulic-arm-44816055
https://www.scribd.com/doc/93124305/Hydraulic-Arm-Project
A text book of Fluid Mechanics by R.K. Bansal