Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop.
This dissertation focused on the design and analysis of a 3-degree-of-freedom (3-DOF) serial manipulator tailored for handling hot objects at the UIRI metal forming workshop. The design process prioritized critical customer requirements, including maintainability, safety, usability, and adaptability...
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| Format: | Thesis |
| Language: | English |
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Kabale University
2024
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| Online Access: | http://hdl.handle.net/20.500.12493/2447 |
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| author | Behangana, Abert |
| author_facet | Behangana, Abert |
| author_sort | Behangana, Abert |
| collection | KAB-DR |
| description | This dissertation focused on the design and analysis of a 3-degree-of-freedom (3-DOF) serial manipulator tailored for handling hot objects at the UIRI metal forming workshop. The design process prioritized critical customer requirements, including maintainability, safety, usability, and adaptability. Five design alternatives human hand, jib crane, mobile crane, industrial serial manipulator, and belt conveyor were conceptualized and evaluated using a Pugh matrix against criteria such as load capacity, precision, and cost-effectiveness. Static and dynamic analyses conducted via ANSYS Workbench validated the manipulator's structural integrity under a 50N load, confirming its resistance to significant deformation during operation. MATLAB's ode45 and Simulink were employed to simulate joint motion and trajectory planning, providing insights into the manipulator's dynamic behavior under varied scenarios. Material selection was integral to the study, with A-36 steel, 6061 aluminum alloy, and 304 stainless steel analyzed for properties like deflection and stress resistance. A-36 steel emerged as the optimal choice due to its superior weight-to-structural stiffness ratio, while 6061 aluminum proved advantageous for weight-sensitive applications. Motion planning employed the Jacobian matrix to identify potential singularities and discrepancies between desired and actual trajectories. This analysis enhanced the understanding of motion control and trajectory optimization. Future recommendations include refining control algorithms, integrating advanced safety features, and exploring innovative materials to improve performance. Training programs for operators will also be developed to enhance usability and ensure safe operation. By addressing these aspects, the manipulator design advances precision, reliability, and operational efficiency, contributing significantly to industrial applications requiring high-performance automation solutions. |
| format | Thesis |
| id | oai:idr.kab.ac.ug:20.500.12493-2447 |
| institution | KAB-DR |
| language | English |
| publishDate | 2024 |
| publisher | Kabale University |
| record_format | dspace |
| spelling | oai:idr.kab.ac.ug:20.500.12493-24472024-12-20T00:01:21Z Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. Behangana, Abert Design Analysis Serial Manipulator Pick Drop Objects Material Handling Uiri Metal Forming Workshop This dissertation focused on the design and analysis of a 3-degree-of-freedom (3-DOF) serial manipulator tailored for handling hot objects at the UIRI metal forming workshop. The design process prioritized critical customer requirements, including maintainability, safety, usability, and adaptability. Five design alternatives human hand, jib crane, mobile crane, industrial serial manipulator, and belt conveyor were conceptualized and evaluated using a Pugh matrix against criteria such as load capacity, precision, and cost-effectiveness. Static and dynamic analyses conducted via ANSYS Workbench validated the manipulator's structural integrity under a 50N load, confirming its resistance to significant deformation during operation. MATLAB's ode45 and Simulink were employed to simulate joint motion and trajectory planning, providing insights into the manipulator's dynamic behavior under varied scenarios. Material selection was integral to the study, with A-36 steel, 6061 aluminum alloy, and 304 stainless steel analyzed for properties like deflection and stress resistance. A-36 steel emerged as the optimal choice due to its superior weight-to-structural stiffness ratio, while 6061 aluminum proved advantageous for weight-sensitive applications. Motion planning employed the Jacobian matrix to identify potential singularities and discrepancies between desired and actual trajectories. This analysis enhanced the understanding of motion control and trajectory optimization. Future recommendations include refining control algorithms, integrating advanced safety features, and exploring innovative materials to improve performance. Training programs for operators will also be developed to enhance usability and ensure safe operation. By addressing these aspects, the manipulator design advances precision, reliability, and operational efficiency, contributing significantly to industrial applications requiring high-performance automation solutions. 2024-12-19T07:12:21Z 2024-12-19T07:12:21Z 2024 Thesis Behangana, Abert (2024). Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. Kabale: Kabale University. http://hdl.handle.net/20.500.12493/2447 en Attribution-NonCommercial-NoDerivs 3.0 United States http://creativecommons.org/licenses/by-nc-nd/3.0/us/ application/pdf Kabale University |
| spellingShingle | Design Analysis Serial Manipulator Pick Drop Objects Material Handling Uiri Metal Forming Workshop Behangana, Abert Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title | Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title_full | Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title_fullStr | Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title_full_unstemmed | Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title_short | Design and Analysis of a Serial Manipulator for Pick and Drop Objects for Material Handling at Uiri Metal Forming Workshop. |
| title_sort | design and analysis of a serial manipulator for pick and drop objects for material handling at uiri metal forming workshop |
| topic | Design Analysis Serial Manipulator Pick Drop Objects Material Handling Uiri Metal Forming Workshop |
| url | http://hdl.handle.net/20.500.12493/2447 |
| work_keys_str_mv | AT behanganaabert designandanalysisofaserialmanipulatorforpickanddropobjectsformaterialhandlingatuirimetalformingworkshop |