UAE University College of Engineering Mechanical Engineering Department Graduation Project I (MEM1-2)

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UAE UniversityCollege of EngineeringMechanical
Engineering DepartmentGraduation Project I
(MEM1-2)
Development of a Wrist Joint and Gripper System
of a Multi-Axis Serial Chain Kinematic Robot
Team Members Ebrahim Mohammed Obaid
980910369 Khalid Saeed Rashid
Alshamsi 199901398 Sultan Hassan Ali
Almansoori 199900241
Supervised by Dr. Khalifa Harib
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Presentation outline

• Introduction.
• Objectives.
• Wrist joint Kinematics design.
• Mechanical Design process.

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Cont. Presentation outline

• Manufacturing the prototype components.
• Assembling Testing the prototype.
• Controller development.
• Conclusions recommendations.

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Types of gears
Helical Gear
Spur Gear
Worm Gear
Straight Bevel Gear
Spiral Bevel Gear
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• Wrist joint Kinematic Analysis.

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Dimensions of the bevel gear.
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Manufacturing the prototype components.

• Manufacturing the Bevel Gears.
• Manufacturing the pulleys.

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Steps of Manufacturing the Bevel Gear

• Turning process.
• 2) Milling process.

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1) Large and Middle Diameter After Shaping
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2) Distance of 5.42 mm on the 42.83 mm diameter
after marking
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3) Centering of the bevel gear blank
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4) Cutting the unwanted part

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5) Fixing the gear blank in the opposite
direction
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6)Using the feeding tool to make a width of 3.7
mm inside diameter
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This is shape of the bevel gear blank before
milling
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7) Fixing the bevel gear blank onto a bar
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8) Dividing head after fixing it to 39 degrees
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10)Bar containing the bevel gear blank onto the
gear indexing device
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11) Fixing of the cutter to the milling machine
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12) Centring the cutter to the top of the bevel
gear blank
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13) Teeth of the bevel gear blank after finishing
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Steps of Manufacturing the pulley

1. Turning process.
2. Milling process.

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1) Turning process
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2) Milling process
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Assembling Testing the prototype.
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Controller development.
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Electric circuit with stepper motor
microcontroller diagram.
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Program code

• include ltstdio.hgt
• include ltdos.hgt
• include ltstdlib.hgt
• include lttime.hgt
• include ltmath.hgt
• include ltstring.hgt
• define DATA 0x378
• define STATUS DATA1
• define CONTROL DATA2
• void main(void)
• int number_of_pulses, i
• int direction
• direction 0x2
• number_of_pulses 100
• for (i0 iltnumber_of_pulses i)
• outportb(DATA, 0x1 direction)

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Conclusions and Recommendations.

• problems that faced.

• The prototype wasnt work properly.

• What we learn and extract ?

• Plan for next GP2 .