Final_Report_Servo_Driven_Pick_and_Place_Mechanism

Final_Report_Servo_Driven_Pick_and_Place_Mechanism - Design...

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Unformatted text preview: Design of a Servo Driven, Adjustable Pick and Place Mechanism As a Major Qualifying Project Submitted to the faculty Of the Worcester Polytechnic Institute Worcester, MA In partial fulfillment of the requirements for the Degree of Bachelor of Science On 29 April 2011 By Owen Butler (ME ’11) Buddhi Paranamana (ME ’11) William Powers (ME ’11) Arvind Srinivasan (ME ’11) Project Advisor: Professor Robert L Norton Department of Mechanical Engineering ii Abstract The goal of this project was to design a tooling station consisting of three of the same linkage mechanisms providing motion along three different axes. Each of the linkages needed to be driven by a servo motor to achieve variable output stroke between zero and fifty six millimeters and to reduce the replacement cost of cams in the sponsor’s production-line machinery. Each mechanism is a six-bar linkage consisting of a slider, which is constrained within a slot in the main rocker whose motion is guided by a crank. The rocker turns about a ground pivot and is pivoted to a connecting rod which then drives a linear motion rail. The mechanism was designed to handle the torque and friction forces that will be applied. A right- angle gearbox and servo motor were chosen to drive the linkage. Three linkages were efficiently packaged within the 250 mm x 250 mm x 1000 mm work envelope specified by the sponsor to deliver motion along three different axes. iii Table of Contents Abstract ........................................................................................................................................... ii Table of Figures ............................................................................................................................. iv Table of Tables ............................................................................................................................... v Introduction ..................................................................................................................................... 1 Goal Statement ................................................................................................................................ 3 Task Specifications ......................................................................................................................... 3 Background ..................................................................................................................................... 4 Design Process ................................................................................................................................ 9 Design Iterations ......................................................................................................................... 9 Kinematic analysis of the preliminary design ........................................................................... 16 Modeling of the crank’s angular position inputs with respect to time ...................................... 22Modeling of the crank’s angular position inputs with respect to time ....
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This note was uploaded on 01/08/2012 for the course AAEC 2005 at Virginia Tech.

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Final_Report_Servo_Driven_Pick_and_Place_Mechanism - Design...

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