Introduction

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.

Introduction

• We have implemented the hydraulic arm that can be controlled by gesture commands. We have proposed a simple algorithm for hand controlling.

• 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 JCB’s, automobile lifters, etc.

Brief History

• Joseph Bramah (13 April 1748 – 9 December 1814), born in Stainborough , Barnsley Yorkshire, England, was an inventor and locksmith. He is best known for having invented the hydraulic press. Along with William George Armstrong, he can be considered one of the two fathers of hydraulic engineering.

Working Principal

• All the movements are controlled hydraulically by syringes attached to each one which are totally based upon the Pascal Law.

• According to Pascal, 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.

Working Principal

Technology Used

• It uses syringes and rubber tubing to act as a hydraulic system. For the most part syringes work nicely, but filling them up so there's no trapped air is a pain.

• Since water is practically incompressible, the syringe plungers should move equally because both syringes are the same diameter. I should have changed the gripper syringe's diameter so its plunger had less movement but more power. Currently, half of its length is unused.

Components Required

1. Syringes2. Wood3. Pipes4. Elastic Thread5. Rubber6. Screws7. Nuts8. Fevicol

Concept

• The basic concept used behind the operation is PASCAL’s 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.

Fluid Power

• Fluid power is a term which was created to include the generation, control, and application of smooth, effective power of pumped or compressed fluids (either liquids or gases) when this power is used to provide force and motion to mechanisms.

• This force and motion maybe in the form of pushing, pulling, rotating, regulating, or driving.

• Fluid power includes hydraulics, which involves liquids, and pneumatics, which involves gases. Liquids and gases are similar in many respects.

Advantages

• The extensive use of hydraulics and pneumatics to transmit power is due to the fact that properly constructed fluid power systems possess a number of favourable characteristics.

• They eliminate the need for complicated systems of gears, cams, and levers. Motion can be trans-mitted without the slack inherent in the use of solid machine parts.

Advantages

• These forces can be conveyed up and down or around corners with small loss in efficiency and without complicated mechanisms.

• Very large forces can be controlled by much smaller ones and can be transmitted through comparatively small lines and orifices.

• If the system is well adapted to the work it is required to perform, and if it is not misused, it can provide smooth, flexible, uniform action without vibration, and is unaffected by variation of load.

Hydraulics

• The word hydraulics is based on the Greek word for water, and originally covered the study of the physical behaviour of water at rest and in motion.

• Hydraulics includes the manner in which liquids act in tanks and pipes, deals with their properties, and explores ways to take advantage of these properties.

Procedure

Wood was used as raw material for the weight factor and also due to its ease of being machined.

• Firstly we bought a wood block from the market.Then we took the help of the carpenter for cutting the wood and getting the desired shape. He used the hand saw to cut the plates from that block.

• After this, as per our drawing ,we get the drawing print on an A4 size sheet in order to get the dimensions. Then the carpenter pasted the sheet on one plate and cut the plate according to the shapes that were on the sheet with the use of carving knifes , chisels and hand saw.This is done twice in order to get the parts of both sides.

• After this , he used the Hacksaw to cut the rough part of the side of the shapes and get them into perfect dimension by using that.

Procedure

• All other shapes are also obtained by the same process.• After obtaining the shapes , it was the the time for the

finishing of each of the part. So he used edger and groover for finishing the edges and trowel for the upper part of the plate.

• Finally we started assembling the parts to get the finished product.Firstly on the plate we fix the wooden box which contains the syringes by small pins.

• The round part which is the base of the arm but it is set in such a way that if some pressure is applied on it using the power of hydraulics, it will rotate upto 130 degree .

Procedure Conti…

• A square plate is imposed on it which is fixed by using small pins and two sticks are set in vertical direction are attached to that plate.

•A block of cuboid shape is fixed between the two frames with a hole in which a syringe can be inserted.

•Then two more ice cream shaped sticks are attached to these frames vertically so that they can also rotate upto 150 degree. They are attached by a wooden pin made from the same material and it is made very smooth in order to make the rotation easier and smoother.

Working Procedure

• A wooden cuboid shaped block is again attached in between the two consisting the hole where the syringe can be inserted.

• Then the gripper is attached at the mouth of the arm by the use of screw.

• Now our Frame is totally completed which is made up of wood.

• The main concept of hydraulic system came in the plan now. Two syringes are attached by one another by the use of the pipe which is used for transferring blood or glucose or used in medical application.

• A complete syringe and the pipe is filled with the fluid used and it is attached to another syringe which is empty. This concept is used and setup in all the 8 syringes and all are setup within the frame .

Total Costing

Serial No. Item Cost(Rs.)

1.        Carpenter Charge 500

2. Wood 300

3. Syringe 80

4. Screws 20

5. Nut Bolts 20

6. Elastic Thread 10

7. Iron Wire 20

8. Pipe 50

Working of Different Parts

Gripper

As the syringe's plunger moves out, the rubber band pulls the fingers shut. When you pull the plunger back the pink strings pull studs on the rear part of the fingers together, thus opening the other end. A cotter pin acts as a crude pulley because I was running out of room to route the string.

Arm Pivot : The two wooden washers in the first page of the plans go on the 1/2"

shaft to space the arm properly from the next section.

Syringes : • The syringe that is mounted in a block of wood that pivots on two

short screws through the side. As the arm rotates, the block of wood that holds the syringe needs to pivot as well. Basically the axis of the syringe should be tangent to the arc of the arm.

• The syringe is mounted in another block of wood that's free to pivot. A piece of coat hanger wire runs from the plunger to the 3/8" dowel to pivot the arm.

• The syringes which are in the main port are setup like this. . The pair on the left that rotates the whole arm isn't a good idea. The tubing makes such a sharp bend it tends to pinch and not work very well. You can see in the videos I have to adjust the tubing to get the arm to rotate.

Whole arm rotation

• The whole arm rotates on a 7/16" bolt that is held captive by the rectangular base. The nut should be loose enough to easily allow the arm to turn. It's also a good idea to put a washer underneath the arm to reduce the friction.

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

• The complete development of the parts was brought out in the machine shop. Wood was selected as raw material for the weight factor and also due to its ease of being machined.

• Using different power tools and putting our own effort, all the parts of the mechanism were prepared according to the dimensions pre-decided.

• Then all the parts are assembled and joined with each other

Working Model

CONCLUSION

• The prepared mechanism has been successfully constrained and executed to carry out the required work of picking up the weight of objects like table tennis balls and to put them into glasses placed at different location.

FUTURE SCOPE

• 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.

Bibliography

The following websites were consulted for relevant materials:• http://www.google.com• http://www.wikipedia.org• http://www.icbse.org• http://enginemechanics.org• http://youtube.com

Thankyou

Presented By:

Akash GuptaChirag AgarwalIraj Mehdi KazmiJitender SinghManish SinghPrashant RaiPritam Priyadarshani