Design and Fabrication Of 6-Axis Robotic Manipulator For Paint Application

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.