ALTERNATIVE SOLUTION OF ROBOT MACHINE BY APPLYING ROTARY MACHINE

Project ID - 7235
Silver Oak College Of Engineering & Technology 1
AN IDP REPORT
ON
ALTERNATIVE SOLUTION OF ROBOT MACHINE BY APPLYING ROTARY MACHINE
submitted by
PATEL ACHAL. ( ENROLLMENT NO: 150773119033 )
PATEL DHRUMIL. ( ENROLLMENT NO: 150773119038 )
PATEL JAY. ( ENROLLMENT NO: 150773119043 )
VEGDA DILIP. (ENROLLMENT NO: 150773119078 )
Guided by
Prof. Vimal jasoliya
In partially fulfillment for the award of the degree
Of
BACHELOR OF ENGINEERING
in
MECHANICAL ENGINEERING
SILVER OAK COLLEGE OF ENGINEERING & TECHNOLOGY
GOTA,
AHMEDABAD
GUJARAT TECHNOLOGICAL UNIVERCITY, AHMEDABAD

Project ID - 7235
DEPARTMENT OF MECHANICAL ENGINEERING
SILVER OAK COLLEGE ENGINEERING
AHMEDABAD
2017-18
SILVER OAK COLLEGE OF ENGINEERING & TECHNOLOGY
AHMEDABAD
IDP Approval Certificate
This is to certify that Mr. PATEL ACHAL.(150773119033), Mr. PATEL
DHRUMIL.(150773119038), Mr., PATEL JAY.(150773119043), Mr. VEGDA
DILIP.(150773119078) and has satisfactorily completed his industrial define problem titled
ALTERNATIVE SOLUTION OF ROBOT MACHINE BY APPLYING ROTARY
MACHINE as a part of partial fulfilment of requirement for the award of the degree of
Bachelor of Engineering in Mechanical Engineering at Silver Oak College Of Engineering &
Technology, Ahmedabad.
Guided By: Head of Department:
Prof. Vimal jasoliya Prof.Meet Shah
Date:
Mechanical Engineering College,
Silver Oak College of Engineering & Technology, Ahmedabad

Project ID - 7235
GUJARAT TECHNOLOGICAL UNIVERSITY
UNDERTAKING ABOUT ORIGINALITY OF WORK
We hereby certify that we are the sole authors of this IDP project report and that neither any
part of this IDP project report nor the whole of the IDP Project report has been submitted for
a degree by other students to any other University or Institution.
We certify that, to the best of our knowledge, the current IDP project report does not infringe
upon anyone’s copyright nor violate any proprietary rights and that any ideas, techniques,
quotations or any other material from the work of other people included in our IDP Project
report, published or otherwise, are fully acknowledged in accordance with the standard
referencing practices. Furthermore, to the extent that we have included copyright material
that surpasses the boundary of fair dealing within the meaning of the Indian Copyright
(Amendment) Act 2017, we certify that we have obtained a written permission from the
copyright owners to include such materials in the current IDP Project report and have
included copies of such copyright clearances to our appendix.
We have checked the write up of the present IDP Project report using anti-plagiarism
database and it is in the allowable limit. In case of any complaints pertaining to plagiarism,
we certify that we shall be solely responsible for the same and we understand that as per
norms, University can even revoke BE degree conferred upon the students submitting this
IDP Project report, in case it is found to be plagiarised.
Place: Date Name of Guide Signature of Guide

Project ID - 7235
SELF-DECLARATION
We Patel Achal., Patel dhrumil., Patel Jay., Vegda Dilip. the student of Mechanical Branch
/enrolment number 150773119033, 150773119038, 150773119043, 120773119078. At
Silver Oak Of Engineering & Technology, Ahmedabad hereby certify and declare the
following:
We have defined our project based on inputs at Tadpole Apparels Private Limited and each
of us will make significant efforts to make attempt to solve the challenges. We will attempt
the project work at our college or at any location under the direct and consistent monitoring
of Prof. Vimal Jasoliya. We Will adopt all ethical practices to share credit amongst all the
contributors based on their contribution during the project work. (we will work on the project
work under the direct and consistent monitoring of industry mentors faculty guides)
The project work is not copied from any projects directly. ( Same project can be done in
different ways but if it has been done in same manner before then it may not be accepted).
Faculty to the best of my knowledge is a genuine industry engaged in the professional
service/social organizations.
We understand and accept that he above declaration if found to be untrue, it can result in
punishment/cancellation of project definition to me/we including failure in the subject of
project work.

Project ID - 7235
ACKNOWLEDGEMENTS
We would like to express our gratitude and appreciation to all those who gave us the
possibility to complete this report. A special thanks to our final year project coordinator,
Mr. VIMAL JASOLIYA, whose help, stimulating suggestions and encouragement,
helped us to coordinate our project especially in writing this report.
We would also like to acknowledge with much appreciation the crucial role of the staff
of Mechanical Laboratory, who gave the permission to use all required machinery and
the necessary material to complete the project.
A special thanks goes to our team mates, who help us to assemble the parts and gave
suggestion about the project.
Last but not least, many thanks go to the head of the department, Mr.MEET SHAH whose
have given his full effort in guiding the team in achieving the goal as well as his
encouragement to maintain our progress in track. We would love to appreciate the
guidance given by other supervisor as well as the panels especially in our project
presentation that has improved our presentation skills by their comment and tips.
We also sincerely thank Mr. TEJAS PATEL of Tadpole Apparels Private Limited for him
active support and suggestions during this phase of the project.

Project ID - 7235
ABSTRACT
“ALTERNATIVE SOLUTION OF ROBOT MACHINE BY APPLYING ROTARY
MACHINE” Refrigeration industries, Book Publisher house, having such big pick & place
robot arm machine .they are used to lift & rotate that deep freezer (product) from one place to
another. We have found such problem of regularly failure & damage of product by this
machine due to limitation of backless, tolerances & design limitation problem. So, we are
tries to give alternate solution for this problem by giving alternate turn table m/which will
perform the same task like the old machine. Hence, we give the sustainable & modified
design of turn table m/c for pick & place robot arm m/c.

Project ID - 7235
INDEX
CHAPTER NO. CONTENTS PAGE NO.
Cover Page 1
IDP Approval Certiﬁcate 2
Undertaking about Originality of Work 3
Self-Declaration 4
Acknowledgement 5
Abstract 6
CHAPTER 1: INTRODUCTION
1.1 Introduction Of Pick And Place Machine 11
1.2 Introduction of Turn Table Machine 13
1.3 Application of Turn Table. 13
CHAPTER 2: LITERATURE REVIEW
2.1 Literature Review 14
2.2 Areas of Research 16
2.3 Problem Identification 16
2.4 Methodology 17
CHAPTER 3: 3D MODELING OF TURN TABLE
3.1 Design of Turn Table 18
3.2 Specifications of Turn Table 19

Project ID - 7235
CHAPTER 4: DESIGN OF PNEUMATIC SYSTEM
4.1 Pneumatic Valve Sizing 25
4.2 Design Parameters 29
CHAPTER 5: PROJECT STATUS
5.1 Background 31
5.2 Role Plan of Project 32
5.3 Expected Outcome 32
5.4 Future Work 33
CHAPTER 6: DISCUSSION
6.1 List of Parts of Turn Table 34
6.2 Block Diagram 34
6.3 Aim of Project 35
6.4 Advantages 35
CHAPTER 7: PROJECT OUTCOME
CHAPTER 8: DESIGN
8.1 AEIOU Summry 37
8.2 Empathy Canvas 38
8.3 Ideation Canvas 39
8.4 Product Development Canvas 40

Project ID - 7235
REFERENCES
LIST OF FIGURES
Figure No. Figure Description Page No.
Fig. 1.1 Pick And Place Robot Arm
Machine.
11
Fig. 1.2 Application Of Pick And
Place Robot Arm Machine.
12
Fig. 1.3 Working System Of Pick And
Place Robot Arm Machine
12
Fig. 3.1 Isometric View Of Turn
Table Machine
19
Fig 3.2 Drop In Sensors 19
Fig 5.2.1 Role Plan Of Project 32
Fig 6.2.1 Working Block Diagram 34
Fig. 8.1 AEIOU Canvas 37
Fig 8.2 Empathy Canvas 38
Fig 8.3 Ideation Canvas 39
Fig 8.4 Product Development Canvas 40

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LIST OF TABLES
Table No. Table Description Page No
Table.3.1 Design Data of Pneumatic System 20-21
Table.3.2 Technical Data of Pneumatic
System
22
Table.3.3 Material specification of
Pneumatic System
23-24
Table.4.1 Standard Cv To SCFM Conversion
Factor
25
Table.4.2 Inlet Pressure & Compression
Factor
26-27
Table.4.3 Bore Size & Cylinder Area
Selection
27
Table.4.4 Cv & Cylinder Bore Size 28

Project ID - 7235
CHAPTER 1
INTRODUCTION
1.1 Introduction Pick And Place Machine
It is the special purpose machine. Which used in refrigeration industry for lifting
the heavy product (deep freezer). It also perform the task of rotating the product
(deep freezer) at 90 degree.
Its machine which operated by servo motor, step up motor or hydraulic system. It having
the big rack & pinion mechanism move on the frame structure of the
machine.
It having cage for carrying the product (deep freezer), which work on three different
hydraulic piston-cylinder.
Fig.1.1 Pick and Place Robot Arm Machine.

Project ID - 7235
Fig.1.2 Application of Pick and Place Robot Arm Machine.
Fig.1.3. Working System of Pick and Place Robot Arm Machine

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1.2 Introduction Turn Table Machine
 It is the special purpose machine. Which also perform the same task for
refrigeration industry but, in a different manner. It lifts up the deep freezer
(product) from the bottom & rotates at 90 degrees.
 This machine basically works on the pneumatic system. It having the air cycle
system &
 Air hoses for the supply of compressed air to execute the working task.
 This also performs the same task as pick & place machine.It has economical
advantage like low maintenance cost, operating cost, etc.
1.3 Application Of Turn Table
 It will be useful to every refrigeration industries which used pick & place
m/c.
 It can be also use in the rotary table where the turn table worked as a rotary
conveyor, the transformation of product via rotating as well as lifting needed.
 It can be directly used as load carrying device where lifting needed, such like
automobile service station.
 It can be also used in book publishing houses for final books were needed to lift &
rotate.
 It can be used each & every rotating & lifting task up to certain load limit capacity
of m/c design.

Project ID - 7235
CHAPTER 2
LITERATURE REVIEW
2.1 Literature Review
The Proto-Type Robotic Arm Pick And Place System Utilize Programmable Logic
Controller, Sensor Technology, And Pneumatic Components Such As Compact Cylinder,
Linear Cylinder, Rotary Cylinder, Gripper, And Directional Valves. The Robotic Arm
Pick And Place System are Composed Of A Loading Station, Testing Station, Processing
Station, And Sorting Station. It Can Be Generalized That The Robotic Arm Pick and Place
System Has Satisfied The motion sequence Of The System Intended To Manipulate
Every Process By
Ladder Programming Through The use Of Programmable logic controller (Plc).
Stefan Hesse at The Origin of Pick and Place Machine and It’s Continues Development
Phases Are Suggested. It’s Also Contain the Whole Design, Logical Operation.And Much
Other Detail about the Grappling System, Holding System & Rotating System of Pick &
Place Machine.
Mohamed Naufal Bin Omar at al In The Field Of Robotics. The Focus Is On 5 Doff
Articulated Arm Since It Mimic To Human Arm. Articulated Arm Consists Of Revolute
Joints That Allowed Angular Movement Between Adjacent Joint. The Shoulder Uses Two
Large-Scale Servos, Working Together To Provide The Torque Needed To Lift The Rest
Of The Arm, As Well As Any Object That It May Be Grasping. The Controller Circuit
Board Is Based On Microchip's Popular Programmable Integrated Circuit Flash
Programmable Microcontroller.
Professor Robert L Norton at al The Linkage is driven By a Servo Motor Coupled with A
Low Ratio Gearbox. The Linkage Fits Within The Envelop & Stoke Length Is Adjustable
Which Leads To Effective Servo Graph The Stroke Lengths Can Also Be Drastically
Modified By Changing The Distance Between The Pivot Point Of The Crank And The Pivot

Project ID - 7235
Point Of The Rocker. ; It Would Still Result In A Lower Down-Time Than Replacing A Cam.
The Final Safety Factor Was Good And Safe By Calculation.
Mr. C. Chandra Mouli1 at al Dexter ER-2 5DOF robotic arm, inverse kinematic model and
control were developed using Lab VIEW and ARM microcontroller. Lab VIEW was used to
calculate the IK model to evaluate the joint angles of the robot arm. The correct position of
the end effector with respect to ta robot arm has been compared with the application of
picking a general purpose Hi-Watt 9V battery and placing it in the predefined space
Rakesh N at al A Cheap & Effective Method for Design & Manufacturing of a 3 Degree of
Freedom Revolute Jointed Robotic Arm. The Operation Of Various Arm Linkages And The
End Effector Has Been Extensively Testing And The Required Corrective Measure Are
Taking In This Paper. Hence, The Objective Of Designing And Manufacturing Of Pick And
Place Robot At Low Cost Is Successful And Can Be Implementing To Replace The
Expensive Electronic Robots.
Girish G Patil at al Complete Vision Guided Robotic Arm System for Picking and Placing
for Recognition & Localization Purpose of Object. For That A Robotic Arm Coordinate
System & Use Of Sift Based Clustering Are Provided. In This Work, Pick And Place
Robotic Arm Using A Computer Vision Based On Scale Invariant Feature Transform Based
Clustering For Picking And Placing Of Objects Is Developed & Sensor Consisting Of A
Camera For Object Sensing &Sift Features Are Used For This.
Deepak Mohanraj at al An Autonomous Robots Which Can Be Controlled With Wireless
Technology From The Remote And This Robot Follows The Line And Move To The Desired
Location And Perform Pick And Place Operation Of Item. These Autonomous Unmanned
Robots Can Communicate With Adhoc Network And Can Perform Better Operation.
Jean-Philippe Saut at al A Planner That Can Automatically Compute The Motion Of A Dual-
Arm/Hand Robot During A Pick-And Place Task Requiring An Object Exchange
Between The Hands. The Planner Computes As Well All The Necessary Intermediate
Configurations. The Integration Of Several Offline Computed And Reusable Data Structures
Such As Grasp Lists And Arm Roadmaps.

Project ID - 7235
R. V. Sharan at al The Mathematical Model of an HSM Has Been Used to Understand the
Dynamics of the Motions of the Base; Shoulder, Elbow, And Wrist (Pitch) Of the Pick-And-
Place Robot. The Outputs Of The Simulated Model Are Angular Displacement And Angular
Velocity.
2.2 Areas of Research
Our area of interest is that removing all the adverse effect caused by the pick & place
machine by giving alternate tur table machine. We try to give sustainable design & it’s
analysis of the turn table machine. We also try to select proper material & instruments for the
turntable machine, which will do by wide analysis of material & equipment selling company.
We also try to give best fabricated & best installation of turn table machine. Thus, our prime
area of interest and research are design, simulation, purchasing equipment’s & fabricated &
well install the turn table on behalf of pick and place robot arm machine.
2.3 Problem Identification
Research shall be done on following drawbacks-
 Continuous observation of pick & place robot arm machine.
 Progressively dent & scratch marks on the product.
 Design & mechanical limitation
 Backless & tolerance limit of gear mashing
 Improper holding & vibration in the cage
Case:-1 Continuous observation of pick & place robot arm machine.
Continuously watching & analyzing the industry & their equipment for the purpose of
finding out the problem in machines, product & layout of the system.
Case:-2 progressive dent & scratch marks on the product.
By observation, we found that dent & scratch marks on a product due to the uneven
holding of the product.

Project ID - 7235
Case:-3 Design & mechanical limitation.
The reason behind all this problem occur in pick & place machine is design &
mechanical manufacturing processes limitation.
Case:-4 Backless & tolerance limit of gear mashing.
Due to backless & tolerance limit of the gear mechanism, the excessive vibration &
shaking occur in the pick & place machine which harm the product.
Case:-5 Improper holding & vibration in the cage.
The cage having limitation of holding the product in it because of unbalancing happen
due to Rotary masses present in the machine which are never completely balance in
the system.
2.4 Methodology
For 7th semester:-
Identification of Need
Definition & Literature Review
Design & Development
Software Modeling
Material Selection
Documentation For 7th semester
For 8th semester:-
Analysis of Design
Procurement of Material & Instruments
Fabrication & Assembly
Evaluation & Presentation
Final Report & Thesis Generation & Submission

Project ID - 7235
CHAPTER 3
3D MODEL OF TURN TABLE
3.1 Designof Turn Table Machine with Solid works
Solid works is a family or suite of design software supporting product design for discrete
manufacturers and are developed by Solid work. The suite consists of apps, each delivering a
distinct set of capabilities for a user role within product development.
Solid works run on Microsoft Windows and provide apps for 2D design, 3DCAD parametric
feature solid modeling, 3D direct modeling, Finite Element Analysis and simulation,
schematic design, technical illustrations, and viewing and visualization.
The Solid works suite of apps replaces and supersedes Solid work’s products formerly known
as Solid/ENGINEER, CoCreate, and Product View.
We have designed our turn table machine with the help of Solid works modeling software
developed by Solid work.
The design has been modified the pick and place machine by giving alternate turn table
machine. We try to make the sustainable design of turn table by using software for simulation
& idea generation.

Project ID - 7235
Fig.3.1 Isometric View of Turn Table Machine
3.2 Specifications of Turn Table
Drop-in sensors
The P1D sensors can easily be installed from the side in the sensor groove, at any position
along the piston stroke. The sensors are completely recessed and thus mechanically protected.
Choose between electronic or read sensors and several cable lengths and 8 mm and M12
connectors.
The same standard sensors are used for all P1D versions.
Fig3.2 Drop in Sensors

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Electronic Sensors
The Electronic Sensors Are “Solid State”, I.E. They Have No Moving Parts At All. They Are
Provided With Short-Circuit Protection and Transient Protection as Standard. The Built-In
Electronics Make the Sensors Suitable For Applications with High On and Off Switching
Frequency, And Where Very Long Service Life Is Required.
Reed sensors
The sensors are based on proven reed switches, which offer reliable function in many
applications. Simple installation, a protected position on the cylinder and clear LED
indication are important advantages of this range of sensors.
DesignData
Data Description
Design GMR (Giant Magnetic Resistance) magneto
resistive function Installation From side,
down into the sensor
Outputs PNP, normally open
Voltage range 10-30 VDC
10-18 V DC, ATEX sensor
Voltage drop max 2,5 V
Ripple max 10%
Load current max 100 mA

Project ID - 7235
Internal consumption max 10 mA
Actuating distance min 9 mm
Hysteresis max 1.5 mm
Repeatability accuracy max 0.2 mm
On/off switching frequency max 5 kHz
On switching time max 2 ms
Off switching time max 2 ms
Encapsulation IP 67 (EN 60529)
Temperature range –25 °C to +75 °C
–20°Cto+45°C,ATEX sensor
Indication LED, yellow
Material housing PA 12
Material screw Stainless steel
Cable PVC or PUR 3x0.25 mm2
Table No.3.1 Design Data of Pneumatic System

Project ID - 7235
TechnicalData
Data Description
Design Reed element
Mounting From side, down into the sensor groove, so called drop-in
Output Normally open , or normally closed
Voltage range 10-30 V AC/DC or
10-120 V AC/DC, 24 -230V AC/DC
Load current max 500 mA for 10-30 V or max 100 mA for 10-120 V
or max 30 mA for 24-230 V
Breaking power (resistive) max 6 W/VA
Actuating distance min 9 mm
Hysteresis max 1.5 mm
Repeatability accuracy 0.2 mm
On/off switching frequency max 400 Hz
On switching time max 1.5 ms
Off switching time max 0.5 ms
Encapsulation IP 67 (EN 60529)
Temperature range –25 °C to +75 °C
Indication LED, yellow
Material housing PA12
Material screw Stainless steel
Cable PVC or PUR 3x0.14 mm2
Table No 3.2 Technical Data of Pneumatic System

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Materialspecification
Standard design Description
Body extrusion Natural color, anodized aluminium
End cover Black anodized aluminium
End cover inserts POM
End cover nuts/screws Zinc plated steel 8.8
Piston rod nut Zinc plated steel
Piston rod Stainless steel, X 10 CrNiS 18 9
Scraper ring PUR
Piston rod bearing POM
Piston POM
Piston bearing POM
Magnetic ring Plastic bound magnetic material
Piston bolt Zinc plated steel
Piston seal PUR
O-rings Nitrile rubber, NBR
End-of-stroke washers PUR
Cushioning seals PUR
Cushioning screws LCP
Designvariants Description
Cylinders for dry rod operation FPM/HDPE

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Seals/scraper ring Option
Piston rod material Hard-chromium plated steel, Fe 490-2 FN
Acid-proof steel, X 5 CrNiMo 17 13 3
Hard-chromium plated stainless steel,
X 10 CrNiS 18 9
Table No 3.3 Material specification of Pneumatic System

Project ID - 7235
CHAPTER 4
DESIGN OF PNEUMATIC SYSTEM
4.1 Pneumatic Valve Sizing
1. Cv:- (Coefficient Of Velocity)
Use:-For Comparison of Flow of Valves. The Higher the Cv The Higher the Flow.
2. SCFM: - (Standard Cubic Feet per Minute):-
Use:-It’s Helpful To Convert Cv Into SCFM And SCFM Into Cv Vice-Versa Cv
Represents Flow Capacity At All Pressures & SCFM Represents Flow At Specific Air
Pressure.
Cv TO SCFM CONVERSTION:-
PSI OF
AIR
PRESSURE
40 50 60 70 80 90 100
FACTOR 0.0370 0.0312 0.0270 0.0238 0.0212 0.0192 0.0177
Table.4.1.Standard ISO Cv to SCFM Conversion Factor Table
Taking Maximum Pressure For Design:-
From That P= 100 Psi & Cv = 3.35 (As Calculated).
S.C.F.M. = Cv/FACTOR
= 3.35/.0177
= 189.45 SCFM
NOTE:-Two methods are shown below to aid in the selection of a pneumatic valve.
To account for various losses in all pneumatic systems, remember to over-size by at least
25%.

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METHOD:-1:-This formula and chart will give the Cv (Valve flow) required for
operating a given air cylinder at a specific time period.
Cv = Area*Stroke*A*Cf /Time*29
𝐴 = 𝜋𝑟2
(See table B)
Stroke = Cylinder Travel (in.)
A = Pressure Drop Constant (see table A)
Cf = Compression Factor (see table A)
Time = In Seconds
Inlet Pressure
(psi)
Cf
Compressor
Factor
“A” Constants for Various Pressure Drops
2PSI
∆𝑷
5 PSI
∆𝑷
10 PSI
∆𝑷
10 1.6 0.102
20 2.3 0.129 0.083 0.066
30 3.0 0.113 0.072 0.055
40 3.7 0.097 0.064 0.048
50 4.4 0.091 0.059 0.043
60 5.1 0.084 0.054 0.040
70 5.7 0.079 0.050 0.037
80 6.4 0.075 0.048 0.035
90 7.1 0.071 0.045 0.033
100 7.8 0.068 0.043 0.031

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110 8.5 0.065 0.041 0.030
120 9.2 0.062 0.039 0.029
Table.4.2.Inlet Pressure & Compression Factor Table
Bore Size Cylinder Area
(Sq. In.)
¼” 0.049
½’” 0.196
¾” 0.44
1-1/8” 0.99
1-1/2” 1.77
2” 3.14
2-1/4” 3.97
2-1/2” 4.91
3” 7.07
3-1/4” 8.30
4” 12.57
5” 19.64
6” 28.27
8” 50.27
10” 78.54
12” 113.10
Table.4.3.Bore Size & Cylinder Area Selection

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NOTE:-In Table “A” 2psi Use Only for Critical Application. 5psi Use for Most of
Application.10psi Use for Limiting Mounting Space Consideration.
METHOD:-2:-CHART
Index Cv against Bore Size vs. Inches of stroke per second. Assuming 80 psi and ΔP
= 80%
Cv Cylinder Bore Size
0.75 1.13 1.50 2.00 2.50 3.25 4.00 5.00 6.00 8.00
0.1
0.2
0.5
26.8
53.7
134
11.9
23.9
59.6
6.7
13.4
33.6
3.8
7.5
18.9
2.4
4.8
12.1
1.4
2.9
7.1
0.94
1.9
4.7
0.6
1.2
3
0.42
0.84
2.1
0.24
0.47
1.2
1.0
2.0
4.0
268
537
119
239
477
67.1
134
268
37.7
75.5
151
24.2
48.3
96.6
14.3
28.6
57.2
9.4
18.9
37.7
6
12.1
24.2
4.2
8.4
16.8
2.4
4.7
9.4
8.0
16.0
32.0
536 302
604
193
387
773
114
229
457
75.5
151
302
48.3
96.6
193
33.6
67.1
134
18.9
37.7
75.5
Table.4.4.Cv and Cylinder Bore Size

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4.2 Design Parameters
1) Pressure = 100 PSI
2) Bore Size = 8 Inch.
3) Area = 50.27 Sq. In.
CALCULATION:-
Cv = (Area*Stroke*A*Cf)/ (Time*29)
= (50.27*8*0.031*7.8)/ (1*29)
= 3.35
Bore Size = 8 inch = 203.20mm ≈ 210mm.
Rod Dia. = 100mm.
Stroke Length = 240mm.
Force = 10kN. (ASSUME).
Flow Rate of 12 dm3/min (AS PER STANDARD).
Areas:-
Major Area {A}:-
𝐴 = 𝜋𝑟2
= 𝜋*(210/2)2 = 34.64*10-3 m2
P = F/A
P = (10*103)/ (34.64*10-3)
P = 0.2887*106 N/m2
Minor Area {A}:-
𝐴 = 𝜋𝑟2
= 𝜋*(100/2)2=7.85*10-3 m2

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Pulling Force:-
F = p*(A-a)
F = 0.2887*106* ({34.64*10-3}-{7.85*10-3})
F = 7734.273N
Flow Rate:-
Q = 0.012/60
Q = 20*10-3 m3/s
Speed Of Outward Stroke (So):-
So = Q/A
So = (20*10-3)/ (34.64*10-3)
So = 0.5774 m/s
Speed of Retraction (Sr):-
Sr = Q/ (A-a)
Sr = (20*10-3)/ ({34.64*10-3}-{7.85*10-3})
Sr = 0.7465m/s
Power (P):-
P = p*Q
P = (0.2887*106)*(20*10-3)
P = 5774w
P = 5.774kw

Project ID - 7235
CHAPTER 5
PROJECTSTATUS
5.1 Background
In Refrigeration Industries Pick & Place Robot Arm M/C Are Widely Use For Transfer Of
Product(Deepfreeze) From One Conveyor To Another .It’s Special Purpose M/C Of That
Industries ,Which Was Made To Perform That Task Perfectly. But , Due To Mechanical
Machining Limitation , Tolerance & Backless Problem That Damage The Product Regularly
& Also Affect It’s Via Producing Dents , Scratch Marks Etc. Due To That The Economical
As Well As The Rework Of That Company Was Increased .So, We People Are Giving
Another Arrangement To Solve This Problem By Giving Alternate Turn Table M/C
Turn Table Will Remove All The Adverse Effect Which Was Done By The Pick & Place
M/C On The Product. It Will Done The Same Task Of Rotating & Lifting On Base Table
Instead Of Trapping In Arms In Pick & Place M/C. It Will Just Work On Pneumatic System
So Regular Cost Of Working As Well As Maintenance Will Very Low As Compared To Pick
& Place M/C. Turn Table Will Be The Perfect Design For That Task & It Will Have Many
Advantage Over The Conventional System .By Implementing This M/C The Industry Will
Save Money, Rework Time As Well As Increase The Productivity .

Project ID - 7235
5.2 Role Plan of Project
Fig 5.2.1 Role Plan Of Project
5.3 Expected Outcome
i. It Will Save Economy & Rework Time & Increase In Quality Of
Product & Also Increase In Productivity.
ii. It Will Work On Pneumatic System Which Is Self-Cleaning & Low-
Cost Affected Process & Low Maintenance.
iii. The Payback of Implementation of New M/C Instead Of Old One
within a Couple of Years, Which Leads To Increase Every System
Parameters.
iv. Hence, The Adoption Of This M/C Which Will Design, Manufacture
& Assemble By Our Team Will Have Many Advantage Over Pick &
Place M/C Via The Use Of Turn Table M/C.
DESIGN &
DEVELOPMENT
ACHAL
ENGINEERING
ANALYSIS
DHRUMIL
DOCUMENTATION
JAY & DILIP
FABRICATION &
MANUFACTURING
WHOLE TEAM
ASSEMBLY &
INSTALLATION
WHOLE TEAM

Project ID - 7235
5.4 Future Work
i. It’s Basically Pneumatics Application Which Will Having Many Day
By Day Innovation. So, Future Scope Of This Project Will Be Much
Higher.
ii. In Future, We Will Do More Advance Technological Adoption like
Advance Material, New Pressure Capacity, Auto Transfer of Fluid (air)
With Application of Higher Pressure Capacity via Using the Same
Capacity Reservoir.
iii. It Can Also Adapt Fugacity Concept Of Thermodynamics To Increase
The Pressure At Varying Condition.

Project ID - 7235
CHAPTER 6
DISCUSSION
6.1 List Of Parts Of Turn Table
1. Valves
2. Cylinders
3. Position Sensing
4. Switch Technology
5. Circuits
6. Basic Control Circuits
7. Advanced Control Circuits
8. Air Filtration, Regulation, And Lubrication
9. Base Table
10. Fasteners
6.2 Block Diagram
Recognitionof
need
Definitionof
problem
Synthesis Analysis& optimization
Procurement Of
Material &
Instruments
Fabrication & assembly
Evaluation & design
review
Presentation
Report & thesisfinal
submission
Geometric
Modeling
Engineering
Analysis

Project ID - 7235
Fig.6.2.1.Working Block Diagram
6.3 Aim of Project
Our Aim Of This Project Is To Provide Sustainable Design & Arrangement In Place Of Pick
& Place M/C By Giving Alternate Turn Table M/C.
In Refrigeration Industries This Pick & Place M/C Are Widely Used To Lift, Rotate &
Transfer the Product from One Conveyor to Another .But, Due To Limitation of Design &
Manufacturing, Tolerances & Backless Problem It Damage the Final Product.
Our Target Will Be To Give The Same Work Performing Turn Table M/C; Which Remove
All The Problems And Adverse Effect Caused By Pick & Place M/C.
Our Project Will Helpful To Such Big Refrigeration Industries To Make Their Work Easier
& Increase Their Productivity & Also Reduce The Rework. It’s Very Good Special Purpose
M/C for That Kind Of Industries.
6.4 Advantages
 Our Project Including; The Design Of Turn Table, Material Selection &
Instrument Selection For The Turn Table.
 It Will Also Including Engineering Software Modeling, Analysis &
Simulation of That M/C That Will use Only for Such Special Purpose M/C.
 Our Project Also Including the Fabrication, Assembly & Installation of Turn
Table M/C Instead Of Pick & Place M/C.
 This Adaption Of M/C Will Helpful To Remove The Pick & Place M/C
Which Was Giving Regular Damage To Final Product & Increase The Rework
Of The Whole Working System.
 Our Project Is Based On Pneumatics Application Which Is Self -Cleaning,
Less Economical & Expensive. It’s Also Low Maintenance System & Easy To
Control The System The Return Of New Technical Adaption Will In One
Year Which Will The Most Advantage Of This Project.
 Due To This Adaption The System Will Go Without Any Kind Of Regular
Damage & Failure Of Product Will Totally Stop.
 Hence, It Helpful To Reduce Rework & Damage, Increase In Productivity &
Quality Of Product Which Will The Indirect Profit To That Industries.

Project ID - 7235
CHAPTER 7
PROJECTOUTCOME
Following Are The Outcome Which Are Drawn From Project Work:
1. In This Project, We First Choose Industry For Our IDP Project. Then We
Identifying Their Need & Defining the Project Problem.
2. Form Our Continuous Observation, We Found the Problem in Pick & Place
Machine.
3. From The Requirement By Company We Developed A New Design Of Turn
Table With The Help Of Solid Works.
4. In Future We Will Try To Make Turn Table Machine.
5. Hence, We Think That Our Design & Development Of This Turn Table Machine
On Behalf Of Pick & Place Machine Will Be Cheaper Cost. It Also Have Low
Maintenance Cost, Installation Cast & Also Have Less Payback Period Time.

Project ID - 7235
CHAPTER 8
DESIGN
8.1 AEIOU Summary
It shows the observation of the place where problem is reated.It inludes
Activities,Environment,Intration,Objects,and Users.
 Activities include the activities done at the place of observation.
 Environment shows the working environment of the observed place.
 Interaction shows the communiation between two people.
 Objetes define the parts and other things placed at the observation site.
Fig 8.1 AEIOU Summary

Project ID - 7235
8.2 Empathy Canvas
This canvas includes users, stakeholders, and activities. Users are the people or community
who use the project. Stakeholders are the person who interacts with company, like
businessman. Activities are same as the AEIOU summary.
This canvas also includes four stories from which two are happy stories and two are sad
stories. Both types of stories are related to the problem. A sad story shows the problems
created by the defect and its effects. A happy story shows the result after solution of the
problem.
Fig 8.2 Empathy Canvas

Project ID - 7235
8.3 Ideation Canvas
This canvas shows the idea about the problem. It includes people, activities,
Situation/Context/Location, and Problems/Possible solution. People and activities are same as
the other canvases. Situation/Context/location shows the situation of the company like
problem of company, Context shows the equipment in which problems are created, and
location shows the place where problem is occurs. Problems/Possible solution shows the
problem of the company and possible solution given by us.
Fig 8.3 Ideation Canvas

Project ID - 7235
8.4 Product DevelopmentCanvas
This is the final result of all the work. This canvas includes people, purpose, product
experience, product functions, product features, components, customer revalidation, and
reject/redesign/retain.
People show the persons who get benefits from the project, which includes workers, manager,
and owner of the company...etc.
Purpose is the main aim of the project. It includes main objectives of the project. The
objectives of our project are To reduce assembly time of fixing, reduce time of fixing of
valve, reduce weight of clamp of the valve, reduce vibration in machine spindle, increase
accuracy in machining, increase productivity...etc.
Product experience shows the feedback of the people who give the problem for the solution.
Product features shows the extra features of the project like time reduction, weight reduction,
accuracy...etc.
Components are the various parts of the projects. It include the components used for solve the
problem.
Reject/redesign/retain shows about validation of the solution. If the solution is feasible then
company will accept it. But if solution is not useful the company will reject it or give advice
for better solution.
Fig 8.4 Product Development Canvas

Project ID - 7235
REFERENCES
[1] Robotic Arm Pick and Place System, Mark Anthony B. Mabanta, Jerome P. Pabillaran,
ET.AL.Engr. Maridee B. Adiong
[2] Modular Pick-And-Place Devices, Stefan Hesse, Blue Digest on Automation
[3] Pick and Place Robotic Arm Controlled By Computer, Mohamed Naufal Bin Omar,
Faculty of Manufacturing Engineering April, University Technical Malaysia Melaka
[4] Design of a Servo Driven, Adjustable Pick and Place Mechanism
Professor Robert L Norton, Worcester Polytechnic Institute Worcester,
MA
[5] Design And Implementation Of Robot Arm Control Using Lab VIEW And ARM
Controller, Mr. C. Chandra Mouli1, Ms. P. Jyothi1, Prof. K. Nagabhushan Raju, Prof. C.
Nagaraja
[6] Design and Manufacturing of Low Cost Pneumatic Pick & Place Robot, Rakesh. N,
Pradeep Kumar. A, Ajay S, International Journal of Scientific & Technology Research
Volume 2, Issue 8, August 2013.
[7] Vision Guided Pick And Place Robotic Arm System Based On Sift, Girish G Patil,
International Journal Of Scientific & Engineering Research, Volume 4, Issue 12,December -
2013 242 Issn 2229-5518
[8] Microcontroller Based an Autonomous Wireless Line Tracking Robot, Deepak
Mohanraj
Assistant Professor, Department Of Eee, Amet University, Chennai, India. – Mohanraj,
International Journal of Advanced Engineering Research and Studies E-Issn2249–8974

ALTERNATIVE SOLUTION OF ROBOT MACHINE BY APPLYING ROTARY MACHINE

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