The document presents a semester project on the pantograph mechanism designed by Jawad Zakir, focusing on its low-cost and scalable manipulative capabilities for both micro and macro applications. It includes a literature review on robot manipulator designs, outlines the project's objectives and methodology, and discusses the finite element method and analysis results using ANSYS and MATLAB. The conclusion highlights the effectiveness of the designed mechanism for applications in various industries, showing amplification and displacement comparisons.

1. Pantograph
Mechanism
FEM SEMESTER PROJECT
PRESENTER: JAWAD ZAKIR
REGISTRATION ID: 195100 MS AE F-19
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2. Introduction
 Scale up and down
 Low cost mechanism
 Used in both micro and macro level
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3. Literature Review
 Manipulator design in robots [1]
 1 DOF pantograph leg mechanism for the kinematics of machine keeping in
view the idea of low cost and easy operation idea [2]
[2] Operation Analysis of a One-DOF Pantograph Leg Mechanisms (Proceedings of the RAAD 2008 17th International
Workshop on Robotics in Alpe-Adria-Danube Region September 15-17, 2008, Ancona, Italy)
[1]Yang, D. C. H., and Y. Y. Lin. “Pantograph Mechanism as a Non-Traditional Manipulator Structure.” Mechanism and
Machine Theory, vol. 20, no. 2, Jan. 1985, pp. 115–22
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4. Literature Review
 Manipulator design in robots [1]
 1 DOF pantograph leg mechanism for the kinematics of machine keeping in
view the idea of low cost and easy operation idea [2]
 Thermal erosion
 Complaint mechanism
[2] Operation Analysis of a One-DOF Pantograph Leg Mechanisms (Proceedings of the RAAD 2008 17th International
Workshop on Robotics in Alpe-Adria-Danube Region September 15-17, 2008, Ancona, Italy)
[1]Yang, D. C. H., and Y. Y. Lin. “Pantograph Mechanism as a Non-Traditional Manipulator Structure.” Mechanism and
Machine Theory, vol. 20, no. 2, Jan. 1985, pp. 115–22
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5. Objective
 Design a mechanism
 Observe the magnitude of increase in initial value
 Compare the data of MATLAB ® with the ANSYS ® Static Structural
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6. Problem Statement
 Design a mechanism that can increase the initial displacement using a
simple pantograph mechanism. Provide a solution using analytic
calculation and compare the data with any commercially available
software. Also, explain the application of this system in industry.
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7. Formulation and Methodology
 E=2e+11 Pa (structural Steel)
 A=1e-8 m2
 I=8.33e-18 m4
 Angle with global axis is 300
1 2
3
4
5
6
L1=L2=L5=10mm
L3=L4=100mm
L6=40mm
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8. Finite Element Method
 Direct Force Displacement Method(DFDM)
 Beam element has been used
 Stiffness matrix is calculated
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9. Element Stiffness
Element 1 Element 2
Element 3 Element 4
Element 5 Element 6
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10. Global Stiffness Matrix
 K_Global
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11. Displacements
 Displacements at each node
 x and y displacements are in meters
2
3
4
5
6
Node
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12. Ansys Static Structural
 Mesh element size was 0.01mm and this was forced to maintained
throughout
Working Directory Meshing
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13. Ansys Static Structural Results
y-axis Deformation
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14. Ansys Static Structural Results Cont.
x-axis Deformation
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15. Comparison
Sr No. Parameter ANSYS @ 1N Force MATLAB @1 N Force
1 Amplification 12 8
2 Displacement (mm) 0.739 0.551
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16. Conclusion
 Comparison with both analytical and ANSYS
 An amplification is achieved
 Simple cost effective method
 Industry usage (automotive, sensors, or medical industry etcetera)
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