This is the minor project report that we have made on the topic of Hydraulic based robotic arm and in general robotics

1. HYDRAULIC ROBOT ARM
Made by:
1.Shambhu Kumar (1401041)
2.Praveen Kumar (1401042)
Project Supervisor:
Dr. Sharifuddin Mondal
MINOR PROJECT

2. AGENDA
• Introduction to Robotics
• Fluid Power
• Hydraulic Liquids
• Hydraulic Lines an Fitting
• Hydraulic Cylinders
• Grippers
• Conclusion

3. Introduction
• Aim of the Project
• What are robots?
• Necessity of Robots
• Applications of Robots

4. Aim of the Project
• The aim of the project is to fabricate a hydraulic based model
of a robotic Arm capable of doing motion and lifting objects.
• To use the daily stationary and household items to fabricate
our model.
• To get an Insight in the world of robotics and make a base for
the future projects.
• To design a self dependent Hydraulic Robot arm system in
summer vacations by improving the current model.

5. Robotics
• Robot is a machine capable of
carrying out a complex series of
actions automatically, especially
one programmable by a computer
• Can be autonomous or
semiautonomous.
• The branch which deals in the
design and development is
Robotics
Ref. Honda

6. Applications:-
• Robots found applications in Military, commercial industries,
Medical Field, Education, Service sector , Space Engg. etc.
Military Applications Medical Applications
Ref. Google Images

7. Robotic arm
Robotic arm changing fuel rods at Nuclear
power plants
• Mechanical arm, usually programmable and having functions similar to Human
arm
• Found applications like pick and place, access uneven surfaces
and hazardous environments
Robotic arm deploying payload
from space shuttle

8. Fluid Power
• Fluids has got enormous power from dam to machines that can lift
bridges.
Ref. Google Images
• It can be harnessed in robotic arm with the help of hydraulics
• The application of Hydraulics ranges from Industries to
agriculture.

9. Pascal’s Law
• A change occurring anywhere in a confined incompressible fluid is
transmitted through the fluid so that same change occurs everywhere.
• Pascal Law is used in car lifters and
is the basic principle for all fluid
power machines
Mathematically,
P1 =P2
F1 /A1= F2 / A2
Hence,
F2 =F1 *(A2 /A1)
If , A1 <<< A2
Then, F2 > F1

10. Hydraulic Fluids
• Hydraulic Fluids are the medium by which
power is transferred in hydraulic machinery.
• Desirable properties
1. Viscosity
2. Lubricating power
3. Chemical Stability
4. Freedom from acidity
5. Minimum Toxicity
6. Cleanliness
• Types :
Petroleum Based
Synthetic Fire Resistant
Water based fire Resistant
Brake Fluid is also a Hydraulic Fluid

11. Hydraulic Cylinder
• Mechanical actuator used to give unidirectional force through unidirectional
stroke.
Cutaway portion of a Welded Body Hydraulic Cylinder
Main Parts:
• Cylinder Barrel
• Cylinder Base or Cap
• Cylinder Head
• Piston
• Piston rod
• Rod Gland
• Syringes has been used as the hydraulic cylinder for our project.
Tie Rod Cylinder

12. Hydraulic Lines and Fittings
• Provides a medium of
transfer of fluid power
from one point to another
in the system.
• Types of Lines
1. Pipe (Rigid)
2. Tubing (Semi Rigid)
3. Hose (Flexible)
• Materials Used are
Steel – Strength, Cost Effective and adaptability to high pressures.
Copper - High resistance to corrosion
Aluminum – Non corrosive, easily to draw or bent,Low weight
Rubber and composites
• In our project we have used plastic ducts to transfer fluid power.

13. Grippers:
• Used to grasp and hold objects,
usually the work piece.
• The applications include machine
loading and unloading,
picking parts from a conveyer and
arranging the parts.
• Types of grippers:
1.Mechanical
2. Adhesive
3. Hooks, Scoops etc.
4. Vaccum Cups
5. Magnetic Grippers A simple Robotic Gripper design

14. Conclusion
• Our design uses simple ideas and mechanisms to achieve the motion.
• Such Hydraulic robot arms may be costlier for small scale industries but
it’s cost can be justified with increased production rates.
• Current Robotic Arm Hardware need many improvements in design and
fabrication .It is just a proof of concept.
• Innovations/Improvements
--- use of microcontroller and a compressor to automate the hand
operation
--- Machine Vision and AI can be used to make the arm self dependent
and perform the task without any human intervention.
--- An innovative design involve jaws that change their orientation
to the shape of the object.

15. References
• http://sciencekit.com/teacher-geek-hydraulics-pneumatics/c/1091955/
• http://en.wikipedia.org/wiki/Hydraulic_cylinder
• http://enginemechanics.tpub.com/14105/
• http://www.howstuffworks.com/transport/enginesequipment/hydraulic.ht
m
• A text book of Fluid Mechanics by R.K. Bansal
• All images were taken from Google Images

16. Thank
You