期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2017
卷号：6
期号：3
页码：4893
DOI：10.15680/IJIRSET.2017.0603286
出版社：S&S Publications
摘要：This study was conducted to create a prototype of pneumatically driven mechanical robotic arm (madeup of steel rods) for pick and place operation using a steel plate gripper. The system incorporates pneumaticscomponents to drive an arm, pneumatic pressure cylinders through solenoid valve supply lines. The arm consists of apneumatic hand and pneumatic wrist which can grasp variousSmall, light-weight objects without force sensors or feedback control. Therefore, this study aims to control the wristmotions to expand the hand motion’s space. The hand imitates the human hand shape and can grasp Objects that havedifferent shapes and mechanical characteristics. The wrist has redundant degrees of freedom which is useful when therobot moves to avoid obstacles. However, the drive mechanism of the wrist has non-linearity from a mechanicalviewpoint. Also, the pneumatic actuators used as the drive source have hysteresis characteristics. These features makethe wrist motions difficult to control as the wrist is used in material handling systems, its motions need to be freelycontrolled. To that end, in this research, experimental model of the drive system of the pneumatic robot wrist has beenconstructed.
关键词：Robot Arm; Pick and Place Operations; Material Handling; Pneumatic Actuator
