Closed Chain 5 Axis Robot

H. P. Jawale1., H. T. Thorat2

Abstract— Robots are applied to perform specific task of moving the objects in specific Work volume. Much of the work is done on Robotic Manipulator with Parallel and Serial Linkages. Parallel linkages mechanisms are of special application for High speed and high precision task but lack flexibility as Serial Chain Robots but on the other hand give advantage of handling object of larger mass than a Serial Chain Robot. Serial Chain Robots offers excellent Flexibility and Repeatability but gives poor Specific Pay Load capacity. Multiple Cooperating Robots offers additional benefit of increase in Pay Load Capacity on account of the reduction in flexibility and accuracy of Robot along with critical Trajectory planning.

A novel approach is conceptualized in this paper which implies assemblage of two Closed Loop Planer Mechanisms for obtaining the positioning of the gripper. Eight bar mechanism operating in a vertical plane with all turning pairs gives end link with 3DOF planer motion. Two links in another vertical plane is coupled to the end link of first plane with object link by a spherical joint to offer Closed Chain Configuration. This 11 link Configuration offers 4 DOF motion. Revolute motion of the platform consisting of 11 links offers fifth motion extending workspace to be Hemispherical.

Special feature of the proposed Configuration is its drive placed at base for all links, due to which it is anticipated to offer Lighter Construction, Higher Pay Load Capacity, and Higher Rigidity of Links. Optimization for Reach and Workspace, Torque of the drive, Precision and Accuracy along with programming for its repeatability are immediate aspects to work upon.

Keywords: Planer Linkage Mechanism, Kinematic Synthesis, Work volume, link Dimensions optimization

1H. P. Jawale is Research Scholar at Dept. of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur (INDIA)-440011 Ph: +091-9422960372., Dept. 91-712-2801393/1275, Fax: 91-712-2223969, E-mail:

2H. T. Thorat is Professor at Dept. of Mechanical Engineering, Visvesvaraya National Institute of Technology, Nagpur (INDIA)-440011Ph: 91-712-2801393/1275, Fax: 91-712-2223969, E-mail:

Principal presenting author biography

Dr. H T Thorat

Professor of Mechanical Engineering

Visvesvaraya National Institute of Technology

Nagpur – 440011

Communication

Address: 9, VNIT, Nagpur(M.S.)440011 ., INDIA

Phone: 0712 - 2225164 (R)

0712 – 2222828, 2223710, 2226750, 2231636 (O) Extn.1393 (O) 1210 (R)

Fax: 0712-2223230 (O)

Cell:98225 63643

Email:

Qualification

Degree / Institute / University / Year
BE (Mechanical) / VRCE / NagpurUniversity / 1978
M Tech (Design Engg.) / I I T, Mumbai / 1980
Ph. D / VRCE / NagpurUniversity / 1993

Experience

Total Teaching Experience: 27 Years

Designation / Organization / Duration
Jr. Research Fellow / I I T, Mumbai / 1.5 Yrs.
Lecturer / VisvesvrayaRegionalCollege of Engg. Nagpur, (VRCE) / 10 Yrs.
Assistant Professor / VRCE / 7 Yrs.
Professor / VRCE / 9 Yrs.
Professor & Head / VRCE / 3 Yrs. (1999-2002) Headship by Rotation
Dean (Academic) / VNIT / From Oct. 2007

Research Guidance

Level / Completed / Ongoing
M Tech. Project / 50 / -
ME (by Research) / 1 / 1
PhD / 3 / 5

Research Publications:

International Journal: 2

International Conferences: 6

National Conferences: 20

Research Area

Robotics, Cycle Rickshaw(Three DST sponsored research schemes completed.),Machines, Automation

Consultancy

Designed and Developed more than 30 Machines

Designed, Developed 3 Products

Laboratory Development Work

Established following Laboratories through various funds in TAPTEC, MODROB etc. Completed 3 DST research schemes.

Dynamics of Machines Laboratory

Stress Analysis Laboratory

Machines Laboratory

Mechanical Measurement Laboratory

Robotics Laboratory

FMS Laboratory

Ergonomics Laboratory

Awards

Received State Level G S Parkhe Award for Development of Instrumented Formability Test Rig from Marahatta Chamber of Industries & Commerce, Pune

Other Information

Attended World Congress IFToMM at Sevilla, Spain

Worked as Hostel Warden for 2 Years

Chairman, Educational Technology & Library in VNIT