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Design, analysis and fabrication of robotic arm for sorting of multi-materials

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 Final Year Project, 2012-2013
School of Mechatronics Engineering, UniMAP

Design, analysis and fabrication of robotic arm for sorting of

multi-materials

Khoo Zern Yi, Zol Bahri Razali

Mechanical Engineering Program
School of Mechatronic Engineering
Universiti Malaysia Perlis
E-mail: [email protected]/[email protected]

Abstract
This paper presents about design, analyses development and Various types of robot are available and can be search
fabrication of robotic arm for sorting multi-material. The from the internet. For example, there are construction robot,
major problem that urges the initiation of the project is the fact manufacturing robot, aerospace exploration robot ,medical
that manufacturing industry is growing at relatively faster rate. robots ,industrial robots and the others.
Most of the company produce high load robotic arm. Less Morgan Petterson had created a robot arm named Arm
company create light weight, and affordable robotic arm. As controller For Robot Waiter. The objective of his project is to
the result, light weight and affordable robot is develop to cover control or command the robot joint in order to shift the gripper
this issue. Plastic material was used to construct the body of into a certain position. The robot waiter is supposed is to
the robotic arm, and an optical sensor was implemented to replace real human work which is serve customer seated by a
provide basic recognition of object to be carried. The robotic table on command.
arm used five servomotors for overall operation; four for its The robot waiter consists of the robot arm which is the
joints, and one for the gripping mechanism. The gripper was robot able to control system and visual servoing system. The
designed and fabricated using Perspex due to the light weight control system and the visual servoing system was located in
and high strength of the material. The operation of the robotic different specified places in computer.
arm was governed by Basic Stamp programming sequence and A lots of position calculation had to be calculate in order
the device was expected to differentiate material and other to attain the specific point in space. The joint coordinates of
objects based on reflective theory, and perform subsequent robot arm receive the data from the program. No error should
operations afterwards. The SolidWorks was used to model the be appear when inserting the command into the program. The
detail design of the robotic arm, and to simulate the motion of objective of the project is to able to pick and place an object.
the device. The arm coordinate system must able to guide the robot
gripper to the position. When facing moving object, the system
1. Introduction need to find way to handle it. Example, a customer decided to
A robot arm is a device which is to do performs automated move a glass while we are trying to fill the glass. That is a slow
task, either according to direct human supervision, pre-defined and small movement. Summary Communication, control
program, set of general guideline, using (artificial intelligence) system of the robot arm and technical characteristics is most
techniques. The task is to replace human work, such as important and it able to discrepancy a robot arm.
construction, carrying heavy thing or hazardous material. The
action of taking material or move an arm, is control by 2.2 Force and Torque Calculation
computer programming or microcontroller. The robot arm is Mechanical of material is a branch of mechanics that
consist of robot arm, gripper and control program. studies the relationships between the external loads applied to
A mechanical gripper is a robot component that uses a deformable body and the intensity of internal force acting
movable, finger like levers to grasp objects. It can be used for within the body. To design any structure of machine, the first
various types of industrial and household applications. In this thing must to apply is the principles of statics to define the
case, the mechanical gripper is utilized for industrial force acting on the both and within its various members.
pick-and-place purposes. Some mechanical grippers are There are four different types of resultant loading can be
controlled by servomechanism while others are driven by defined which is normal force (N), Shear force (V), Torsion
some linear actuation mechanisms moment or torque ( T), and Bending moment (M).
The most commonly used type of mechanical gripper is If a robot arm is long and slender, as in the case of a rod or
the parallel type. This type of mechanical gripper uses two beam, the section to be considered is generally taken
finger like levers (that move towards each other) to hold perpendicular to the longitudinal axis of the arm. This section
objects by applying adequate amount of normal force onto the is referred to as the cross section. In most robotic appliance,
object. For holding circular objects, a mechanical gripper with the robot is subject to a breed of external force. These force
three moving levers can be used. may be due to disturbance, interaction with work piece, impact
with the obstacles, etc. The performance of the robot
2. Background Study controller of this situation is more critical to the success of the
operation.
2.1 Previous Robot Arm To make an extendable arm, a linear actuator can be used
provide linear motion along vertical and horizontal axes. To

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produce such driver at an affordable cost, a combination of

belt drive and a motor is more preferable. Nevertheless,
selecting a suitable motor for the application requires a very
detailed calculation to avoid over sizing or under sizing of the
motor. As for load torque (TL), there are two different ways to
According to the Panasonic Motor Selection Guide (2007), express the relationship between the applied mass and the load
the procedure of the motor selection must follow the sequence torque required to carry the mass. Leadshine Technology Co.
that includes a) Determination of driving mechanism, b) Ltd. stated that load torque calculation must consider the
Calculation of the motor speed and the load, c) Checking inclined angle of the axis of movement of applied mass, as
requirement of specifications, d) Selection of motor model, e) well as the efficiency of the motor. The efficiencies of motors
Temporary selection of motor, f) Final determination of the usually vary between 85% and 95%. Equation 2.7 shows the
motor and gear head. Load torque, moment of inertia and expression of the relationship. In this case, g, α, and η
speed which are converted to those at the motor output shaft symbolize gravitational acceleration, angle of inclination of
have to be calculated. Positioning accuracy, holding of moving plane, and motor efficiency respectively. µ denotes the
position, speed range and the other environmental resistance coefficient of friction of sliding surfaces.[9]
need to be checked afterward.[8]
As for the belt-driven vertical axis lifting component, the
mechanism resembles conveyor belt carrying loads. Selection
of suitable motor must be based on this sort of driven method. Nevertheless, Panasonic Motor Selection Guide (2007)
According to the literature titled “Motor Torque Calculation” expressed the relationship differently. The literature did not
published by Leadshine Technology Co.,Ltd.(2010), load consider the efficiency of the motor that drives the pulleys.
inertia of the system can be calculated using a series of Also, it expressed the gravitational effects in terms of external
equations that give the separate load inertia of each component. forces acting on the applied mass.[8] The equation is given as
Load inertia exerted by the applied load, the pulleys and the follows and F denotes the external force acting on the system.
belt can be calculated one at a time. To calculated the load
inertia of the applied mass (JL), equation below should be used.
D symbolizes pulley diameter while mL denotes mass of
applied load. All units should be expressed as SI units.[9] Total calculated torque (TT) can be obtained by summing
up the value of load torque and acceleration torque, according
to Leadshine Technology Co. Ltd.[9] Mathematically, the
Leadshine Technology Co. Ltd stated that pulleys’ inertia relationship between these parameters is expression in the
moment (JP) should be calculated using the following equation. following equation:
Note that mP denotes mass of one pulley. If two identical
pulleys are used, the calculated value should be multiplied by
two.[9] Also, Leadshine Technology Co. Ltd. suggested the usage
of safety factor when selecting suitable motor for the
application. The safety factor (KS) is merely a constant,
user-defined factor to serve as multiple of the total calculated
Belt’s load inertia cannot be neglected as belts are mostly
torque.[9] The required motor torque (T M) is given by the
reinforced by stronger material such as Kevlar or steel cord. To
following equation:
calculated belt’s load inertia (JB), Leadshine Technology Co.
Ltd. suggested the equation stated as follows to relate with
mass of belt (mB).[9]
2.3 Motor for Automation
Basically, the most comment used for robot arm”s motor
are stepper motor and servomotor. These two motor had
The total load inertia of the system should be summed and
different usage when operating it. The author of “ Robot
yield the reflected load to the output shaft of selected motor.
Building For Dummies ” , Mr. Roger Arrick said that a stepper
Thus, the total load inertia of the system (J T) is expressed as
motor”s shaft has permanent magnets attached to it. Around
the following equation based on Leadshine Technology Co.
the body of the motor is a series of coils that create a magnetic
Ltd.’s literature.[9]
field that interacts with the permanent magnets. When the
coils are moving on and of, then the magnetic field will causes
the motor to move.
Next, acceleration torque (Ta) required to be provided by In this robot arm project, servo motor play a very
the motor should be calculated using the value of total load important roles. In the market now a days, there are many
inertia of the system and the desired angular acceleration (a) companies are making servo motor such as Hitec, Tower
by utilizing the following equations stated in the literature Hobbies, Cytron, Airtronics, RC and the others. In this project,
named “Motor Torque Calculation” published by Leadshine one types of servo motor been used such as Tower Hobbies
Technology Co. Ltd. ω0 and ω1 denote initial and final angular SG5010. The different of precision, speed, strength and torque
velocity respectively while t is a symbol for time for velocity will affect the price of servomotor. Servo motor are DC motor
change.[9] coming along with a servo mechanism function for precise

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control of angular position. Servo is refers to an error sensing duration of the pulse width signal is 20ms.[5]
feedback control which is used to correct the performance of a
system. Servo motor are divided into two types which is rotate
from 0 ° to 180 ° and 0 ° to 360 °. Servo motor usually does not
rotate continually. Servo motor “s rotation is restricted in
between the fixed angles and it is used for precision position.
Normally, the servo motor are used in robot arm based and Figure 2.2: Duration of Pulse Width Signal
elbow , RC toys likes RC helicopter or car and the others.
The 2.1 figure is the servomotor spine and the servo The speed of servo motor is control by the switches
horn. Splines are ridges or teeth on a drive shaft that mesh which is open and close in order to make use of the average
with grooves in a mating piece and transfer torque to it, voltage across the motor. Pulse Width is the duration of a pulse
maintaining the angular correspondence between them. that applies to the control wire. The direction of servo motor is
However, servo horn is a small nylon or plastic or wheel that determined by the length of the pulse. For example, a 3.0ms
attaches to the output of shaft of a servo. The purpose of the pulse will causes the motor to turn 180 degree clockwise.
servo horn is to connect the servo to control linkage if The servo motor also able to move and hold a position by
necessary. Normally there are holes at different point on a giving the command. The maximum amount of force the
servo arm to facilitate adjustment in control surface deflection servo motor can carry out the torque rating of the servo motor.
and leverage. The position of servo motor unable to last long so, the position
The output of shaft and the arm is to splined in order pulse must rekey in to make the servo motor to stay in
to transfer torque from one to each other. The arm just able to position.
fix to a number of preset positions. Normally different servo Figure 2.3 shown 3 types of pulse which is, minimum
horn have its own purpose. Chose a suitable servo horn is very pulse = 1 ms, neutral position which is 1.5 ms wide and the
important to a servo motor. maximum pulse = 2 ms wide. When pulse width 1ms is 0
position. Pulse width 1.5ms is 90 position and finally 2.0 ms is
180 position. The three position is the servo motor turn rate.[7]

Figure 2.3: Servo Turn Rate

Figure 2.1 : Servo Motor
2.4 Mechanical Gripper
The mechanisms of robot arm gripper can be classified
There are three connector(wire) which is ground,
into some ways. The style of finger movement is the first ways.
positive supply to the servo motor and control signal wire.
The closing and opening gripper can be actuated by either
There wires of a servo motor are coded different colour. The
pivoting, or linear or translational movement.
red wire is the DC supply lead and must be connected to a DC
The purpose of mechanical gripper of robot arm is for
voltage supply in the range of 4.8 V to 6V. The brown wire is
grasping an object with its mechanically operated finger. It is
ground. However, the third wire (yellow) is to provide control
used as end effectors in a robot arm. Normally in industries,
signal for different manufacturers.
two fingers for a gripper are already enough to hold a material.
Pulse of variable width was send by servo which is to
But, more than two fingers are also can be use based on the
control it. The pulse was send by using wire. There are a few
different application and purpose. Most of the gripper now a
parameters for the pulse which is minimum pulse, a maximum
days are replaceable type because it can easily change for
pulse and a repetition rate. Given the rotation Constraints of
other intention.
the servo, neutral is defined to be the position where the servo
Drive system is needed to establish the input power
has exactly the same amount of potential rotation in the
of hydraulic, pneumatic and electric robot arm. The
clockwise direction as it does in the counter clockwise
output(power) is sent to the gripper to make the finger to move.
direction. The different of servo motor will have different
Beside that, it also can make the finger to hold an object by
constraint on their rotation but they all have a neutral position,
open and close. The main point is , an enough force must be
and the position is always around 1.5 milliseconds.
provide to hold an object.
Figure 2.2 is the duration of pulse with signal. There
There are two different way to hold an object by a mechanical
are two types of pulse which is maximum and minimum. The

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gripper such as : issues. Discussions between designer and advisor will be

 By applying more gentle and soft material finger frequent to avoid misunderstanding and thus misleading to
pads(cushion) errors and mistakes.
 By applying the finger pads similar with the shape of Next, design output will be generated. This is a stage
the work part where drawings and 3D models will be produced by designers.
For the first method , the finger must be able to provide All design data must be arranged accordingly and
enough force to grip or hold the object. To prevent scratches comprehensively to smoothen later processes. Drawings of
on the object, a gentle and soft pads are need when fabricating parts to be custom-made must be provided in order to obtain
the fingers. Then, the coefficient friction and the surface of desired product from vendors/suppliers (if any). All drawings
finger will increase and become more better. This method is must include comprehensible signs and symbols describing
more low cost and easy to make it. Slipping can be prevent by geometric dimensioning and tolerancing (GD&T). This is a
designing the gripper using the force exerted.[5] way to communicate the desired parts geometry to the
fabricator of the parts. Even if the parts are to be fabricated
(µ)(n)( F) =w using in-house machining devices, by the designer
himself/herself, drawings should be done comprehensively for
µ = coefficient of friction between the object with the fingers future development of product (i.e. mass production).
Assembly drawings are to be generated for reference of other
n = number of fingers contacting personnel (if any) involved in the assembly process.
F = force of the gripper Then, a design review should be conducted thoroughly
based on the generated design outputs by independent
w = weight of the object reviewers. This is to ensure no overlooked factors by the
design engineers during the stage of design and development.
The (1) equation must be replace to (2) equation if The reviewer should comment on every doubted area
the weight of the object is more than the force (because cause regarding the design and the design engineer is ought to
slippage ). During fast griping work, the weight of the object answer to the comments. A meeting should be conducted
will increase into double. between the reviewer(s) and the designers to discuss about the
(µ)(n)( F) =wg issues arose. Reviewer(s) may point out their ideas to improve
the design of the product but the designers should always
g = g factor make the final decision by considering all the factors. If there
3. Research Methodology are any changes required, the design process should be
Normally, the design projects abide by following the brought back to the design and development stage and the
workflow of product development process used by EMS consequent stages will be repeated.
companies and other product development departments. If it is required, approve documents should be issued after
The systematic design process is beginning from the stage of reviewing. Documentation and papers describing
gathering design input, then follow by design and the design data and their approval information should be kept
development. Next is design output are generate then finally is during this particular stage. This is a record-keeping process
design review will be conduct. If the design is successfully and it is done basically by corporate organizations to ensure
passed the review, approve document will be issue if it is proficiency of the company and traceability by customers.
required by certain corporations. The design will then b realize Afterwards, the designed product will be fabricated either
by making of prototype. Any design should be tested for by in-house facilities or be outsourced. Outsourcing of part
verification and if there is no changes is required, then the fabrication must be done under a condition that the
design validation (e,g. field trial of medical/healthcare vendor/supplier must be approved or certified for their skills
product) will be conducted. The design transfer will be done if and services. Status and progress of outsourced parts must be
the design process passes the trial period. known at all time to avoid delay of parts and thus the entire
At the beginning of the process, information on development process. Parts are to be assembled to form a
requirements for the expected product will be collected. For complete product during this stage. Assembly of parts must
this case, the material to be picked, the required motion, major follow the previous design data (i.e. assembly drawing)
dimensions, and other related data regarding the robotic arm produced at the earlier stage.
will be acquired by considering the need and expectation of Design verification or specification tests should be
the users. Design input will be generated, and a series of conducted after the construction stage. At this stage, all
product design specifications will be proposed to supervisor. proposed specification will be tested to see whether the
Later on, the design and development stage will be started. product delivers its function as promised. Results should be
Basically, to simplify design process, the expected product recorded comprehensively for future improvements or data
will be divided into a few proper modules where concentration interpretation by other teams. If the product is able to perform
and attention of designer will be paid to one module at a time. adequately based on the proposed specification, the design
This is an effective approach to organize design data. By using process will move on to the next stage. Otherwise, it will be
this method, design data will not be crowded and designer will brought back to the design and development stage where
be able to trace problems easily as they arise. During this stage, changes will be made and subsequent stages will be undergone
researches will be done to gain knowledge or information in again.
order to obtain more understanding on the current design The overall operation of the robotic arm is programmed

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and controlled using BASIC programming language. In manufacturing prototypes of products. Furthermore,
computer programming, BASIC (an acronym for Beginner's determining and improving weak points, computing life and
All-purpose Symbolic Instruction Code) is a family of foreseeing probable problems are possible by 3D simulations
high-level programming languages. The original BASIC was in virtual environment.
designed in 1964 by John George Kemeny and Thomas ANSYS software with its modular structure as seen in the
Eugene Kurtz at Dartmouth College in New Hampshire, USA table below gives an opportunity for taking only needed
to provide computer access to non-science students. At the features. ANSYS can work integrated with other used
time, nearly all use of computers required writing custom engineering software on desktop by adding CAD and FEA
software, which was something only scientists and connection modules.
mathematicians tended to do. The language and its variants Ansys software is used for analysing the deformation of the
became widespread on microcomputers in the late 1970s and gripper. The force that using for the deformation is 0.029N,
1980s. BASIC remains popular to this day in a handful of 0.028N, 0.027N, 0.026N, 0.025N.
highly modified dialects and new languages influenced by The figure 3.1 below is a analysis about the gripper. The
BASIC such as Microsoft Visual Basic. As of 2006, 59% of minimum and maximum area is the area which is applying the
developers for the .NET platform used Visual Basic .NET as force. Different force applying in the maximum and minimum
their only language. The BASIC Stamp is a microcontroller area. There is 5 force that apply in the area which is 0.029N,
with a small, specialized BASIC interpreter (PBASIC) built 0.028N, 0.027N, 0.026N, 0.025N . The reason using the
into ROM. It is made by Parallax, Inc. and has been popular 0.029N - 0.025N because want to the motor maximum torque
with electronics hobbyists since the early 1990s due to its low is 0.027N. By increasing and decreasing the 0.001N,we can
threshold of learning and ease of use (due to its simple BASIC know the different deformation.
language).
If it involves medical/healthcare products that is
potentially harmful to patients or is integrated to patients’
physiological system, the product should undergo the design
validation stage where field trials come in. Mostly, field trials
for medical product will be done for 2 years. If the design of
the product is accepted during this stage, then the process will
be moved on to the nest stage.
The final stage of the design process is to transfer the
design and to deliver outputs. The completed design should be
transferred for further development (e.g. process design,
tool-making). The designer will then need to communicate the
essence of his/her design of product to help in the later
Figure 3.1: Gripper with ansys software
development. Transfer of design can also be done on the
purpose of delivery to customer as for EMS companies. Such
companies sell their design of product as a form of service.
Engineers of EMS companies work on a customer’s product
development project and the customer pays the company in
return. The completed design belongs to the customer and they
will have the total right of using the design.
This design process is acceptable internationally and a
proper design workflow. Product development departments
use this workflow as their guideline to products of better
quality and simpler record-keeping procedure. By using this
guideline for the design project, a better product and a more
organized process could be achieved.
The flowchart below shows the overall workflow of the
described design process. All looped processes must have the Figure 32: Gripper reaction force when applying different
subsequent stage repeated, and no orders of stages should be force
rearranged.
After have the actual parameter or dimension, drawing
process is begin. Solidworks software is chosen to draw all the
3D drawing. Then, assemble all the part which already draw
by using solidwords software. After had done all the assemble,
convert the assemble file to ansys software file. ANSYS is a
general purpose software, used to simulate interactions of all
disciplines of physics, structural, vibration, fluid dynamics,
heat transfer and electromagnetic for engineers.
So ANSYS, which enables to simulate tests or working
conditions, enables to test in virtual environment before

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Result and Discussion

4.1 The Construction of the Robotic Arm

The structure of the robotic arm was built by four
assembly part which is base assembly, gripper assembly, arm
assembly and finally is elbow assembly. The robotic arm
design is very important because it able to easily find
replacement robot parts or components during maintenance of
the part. Beside that, a good design will helps in providing
comprehensible design concept. As the result, machines and
devices will more easier to be assembled and managed.
Selecting materials of the component robotic arm is based
on the mechanical properties such as hardness, density,
Figure 3.3: Maximum deformation strength and the others. Plastic (Acrylic / Perspex ) material
was chosen to create the structure of the body robotic arm and
Maximum Force(N) links because of the low-density feature and affordable cost.
Deformation(m) Metal(screw) was picked to join all the robot” links due to its
high density, easy to find and low cost.
3.4354E-08 0.0284 Screws and nuts ranging from size M3 to M4 were used as
connections for each part of the assembly. Washers were
3.3266E-08 0.0275 needed to avoid loosening of screws and nuts due to vibration
that occurs during running the robotic arm.
3.205E-08 0.0265 Most of the robotic part is exchangeable and easy to
3.0846E-08 0.0255 purchase. Example servo motor, and Perspex plate.

2.9637E-08 0.0245
4.2 The Main Assembly
Table 3.1: Maximum deformation data

Figure 4.1: The Main Assembly

Figure 3.4: Minimum deformation

Minimum Deformation(m) Force(N)

-3.568E-08 0.0284
-3.4549E-08 0.0275
-3.3293E-08 0.0265

-3.2036E-08 0.0255
-3.078E-08 0.0245

Table 3.2: Minimum deformation data

Figure 4.2: The Solid Works model of Main Assembly.

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function. To design a working robotic arm with ability to

Figure 4.1 shows the main assembly of the robotic arm . perform sense-pick-and-place function. The design of the
The main assembly of the robotic arm was involved two robotic are was stared from the prototyping stage. Drawings
sub-assemblies which is the arm and base assembly. The 3D and assembly schematics were generated as design data to be
construction of the robotic arm is by using Solid works. kept for future reference if improvements were to be done to
Figure 4.2 shows the Solid works model of the robot main enhance the developed device in any possible way. Therefore,
assembly. The two sub-assemblies were joined by using screw the first and third objectives were achieved. The prototype of
and nut. Suitable washers were used to prevent loosening the robotic arm was successfully developed and it was able to
when operating the robotic arm. sense-pick-and-place function. It was tested to give a clearer
image on its overall reliability. The overall successful rate of
4.3 Robot DOF(Degree of freedom) the robotic arm to perform its tasks correctly was 90%.
The second objective of the project is to do analysis of
mechanical properties of the design of the robotic arm.
Calculations were done for the required shear stress on the
finger gripper connection hole. This procedure was important
to know about shear stress for the gripper. The second
objective of the project was therefore achieved..

Acknowledgement
First and foremost, I would like to use this statement to
express how honored I am to be able to work with Dr. Zol
Bahri Razali for this final year project organized by Universiti
Malaysia Perlis. If there is only one comment to make, I will
Figure 4.4: Robot DOF ( Degree Of Freedom ) have to say that this final year project has undoubtedly given
me a chance to pursue and explore all the things I wanted to
achieve ever since I started my engineering study. I wouldn’t
In figure 4.4 there are 4 degree of freedom in the say that I have achieved greatness, but at least I am off a great
robotic arm which is link 1, link 2, link 3 and link 4. 4 link of a start.
robotic arm able to make the movement more flexible. The Certainly, I have to express my gratitude towards a few
more location the robot arm able to go if the DOf is more.[6] persons and organizations. The person I would like to thank
firstly should be my supervisor, Dr. Zol Bahri Razali, who was
4.4 Discussion also my reliable tutor. He was the one who granted me the
Finally working on the assembly had done. The assembly opportunity to work on the project and thus open up all the
of the robotic arm was successful with the minimal rework other possibilities.
needed. Last but not least, I want to thank the university and all the
The components used to make the assembly can be easily involved personnel for arranging such a helpful program for
found and replaced from local hardware store and no exotic the sake the students’ academic development. The program is
manufacturing processes were used to fabricate all the truly inspiring and it’s always a good practice to provide
customized parts. This enables convenient replacement of opportunities for the students out to work on their respective
parts and components when the contemporary ones are projects because this creates the bond and collaboration
defected. Furthermore, the design data and output (e.g. part between the supervisor and the students. Students are also
drawings and assembly schematics) allows future exposed to real life research environment.
improvement by students of the coming batch. To the entire organization of Universiti Malaysia Perlis,
During the process assembly the spinner part with the you really made everything possible, Thank You Very Much.
motor. Problem was founded when assembly the spinner.
Screw and nut was loosen when the motor is rotating. As the References
result by using bicycle tyre rubber to solve the problem. [1] A.B.Zavatsky MT07,Lecture 4 Stresses on Inclined
The moment assembly bracket with the spinner. A Sections.Retrievedfromhttp://www.eng.ox.ac.uk/~kneabz/tea
problem also occur when the bracket leg fix to spinner hole. ching/seh/Stress4_mt07.pdf.
The bracket is unstable and unable to stand itself. By using [2] Self, B. A., Miller, J. M., & Edens, C. T. (2010, May 27).
glue to stick the bracket leg area with the surface of spinner is Open platform automated sample processing system.
an idea. Unfortunately, in engineering every component or Patentdocs: Stay tuned to the technology. Retrieved October 9,
parts which is our design must be flexible and rechargeable. 2010,from
Beside that, assembling between first elbow and second http://www.faqs.org/patents/app/20100126286#ixzz0vdgYm.
elbow also occur some problem. The second elbow is shaking [3] Huge robots handling . RS Hong Kong. Retrieved October
because of the servo motor. To overcome the problem, a spring 9,2010,fromhttp://hongkong01.rs-online.com/web/generalDis
was added to avoid and reduce the shaking problem. play.html?id=centre/
eem_techref_hugerobots.
5. Conclusion [4] Robotics (ISR), 2010 41st International Symposium on
The first objective of the project was to design a working and 2010 6th German Conference on Robotics (ROBOTIK).
robotics arm with ability to perform sense-pick-and-place

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 Final Year Project, 2012-2013
School of Mechatronics Engineering, UniMAP

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Evaluated by:

_________________________________
(DR. ZOL BAHRI RAZALI)
(4-July-2013)
(Official stamp)

__________________________________

Mechanical Engineering Program/ 8

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