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WEIGHT BASED BALL SORTING SCARA MANIPULATOR Kosuru Sai Malleswar Jayakrishnan TS Nakka Abhinay Goud
PROBLEM STATEMENTTo design an autonomous manipulator which can Act on a specified area Sort objects based on their weights. Relocate them to a specified location. Repeat the cycle
FUNCTIONALITY Move the end effector to a specific location to pick up the ball Put the ball on the weighing machine/ weight feedback system Decide the range of the weight to which the ball belongs Ranges: below 56 grams between 56 grams and 59.4 grams above 59.4 grams Pick up the ball from weighing machine and put into the corresponding tray.
WHY SCARA ??? SCARA has circular work envelope. The selective compliant feature of the SCARA robot Flexibility in the horizontal plane. Faster and more precise performance Best suited for point-to-point movements SCARA robots tend to have small bases
SPECIFICATIONS The size of the balls: ~ 6.7 cm (2.63 in.) in diameter. The weight of the balls: 50g to 65g The height of the stand: 0.5 m The length of first revolute link: 0.3 m The length of second revolute link: 0.2 m The length of the prismatic link: 0.4 m The work space of the manipulator: Cylindrical annulus Minor radius = 0.1m Major radius = 0.5m Height = 0.5m
SPECIFICATIONS The end effector The length of each jaw of the parallel gripper: 10 cm The gap between the jaws: varies depending on ball size (range : 5 cm to 8 cm) The width of each jaw:2.5 cm EVG 2-Finger Parallel Gripper: A sensitive touch with adjustable length
POSSIBLE COMMERCIAL MODELSJupiter SCARA Servo Robot System -830 -RJ1-A Toshiba SR-1204HSP