Abstract:
The ever-growing advancement in science has led humans to make their everyday tasks
easy and fast. One of the key reasons for achieving milestones in this process was the
development of robots, an ideal tireless worker. Since the recorded history, the very concept
of robots and robot-like machines can be found. The idea behind undertaking this project was
to create a 6-axis robot for efficiently painting surfaces with a better finish, while reducing
the human input. Study of previous work conducted in this field was performed and various
technicalities involved in undertaking the task were determined. Multiple parameters that
impact the end-product were analyzed and carefully selected. Using basic geometry,
relationship between work volume, the dimensions of linkages of manipulator, and the size of
work cube was found. The CAD model of robotic arm and auxiliary systems were made and
refined based on ease of manufacturing and FEA simulations. Various manufacturing
processes were used for the fabrication of robotic arm like acrylic sheet cutting and
conventional machining processes of turning and milling. To increase ease of maintenance,
several standardized components were used. Ultimately, a prototype of 6-axis robot was
created. Modular design and six DOF resulted in achieving high maneuverability. Control
system was also made for efficient operation of the robotic arm.
