Project

1. Presentation by:-
Nikhil AS 4MT21MT402
Mohammed Anfal 4MT20MT012
Isthiyak 4MT20MT009
Lionel Pereira 4MT19MT037
Guide : Ms. Nishmitha
Collaborative Robot for Industrial and commercial Applications
Department of Mechatronics Engineering
Accredited by NBA
Subject:- Project Phase – I Seminar
Subject code- 18MTP78
MANGALORE INSTITUTE OF TECHNOLOGYAND ENGINEERING
(A Unit of Rajalaxmi Education Trust®, Mangalore)
Autonomous Institute affiliated to VTU, Belagavi, Approved by AICTE, New Delhi
Accredited by NAAC with A+ Grade & ISO 9001:2015 Certified Institution

2. OUT LINE OF PRESENTATION
 Introduction.
 Problem definition.
 Literature survey.
 Objective.
 Block Diagram
 Methodology.
 Implementation Plan
 Probable Outcomes
 References.

3. Introduction: What is Collaborative Robot ?
 A cobot, or collaborative robot, is a robot intended for direct human-robot interaction within a shared space, or where
humans and robots are in close proximity .
 In the ever-evolving landscape of automation, Unlike their traditional counterparts, cobots are not confined to isolation
behind safety barriers. Instead, they are designed to work hand-in-hand with human counterparts, fostering a new era of
collaboration and efficiency.
 What sets cobots apart is their user-friendly nature. Cobots are designed for ease of use, featuring intuitive controls that
empower workers to quickly reprogram them for diverse functions. This flexibility is a key asset, particularly in
environments where tasks may vary.

4. Problem definition
 Complex Motion are difficult for achieving using Teach Pendant Robot In industries like painting automotive parts
requires complex motion for paint job which is unachievable using teach pendant robot
➢ Most of the industrial robot are far from human vicinity: for safety consideration industrial robot are kept in enchased
closed environment for safety of humans which reduced less collaboration between humans and operation taking place at
industries
➢ Requires large floor space: Industrial robots requires large floor space for setup and work
➢ Difficulty in Programming: We require a Highly skilled person for programming the robot

5. SL.NO
Title of the Paper Summary of the Paper
1. Process-oriented Task Assignment for Assembly Processes
with Human-robot Interaction
Many assembly processes, particularly in the manufacture of large
components, are still carried out by humans manually. In addition to
rationalization aspects, high quality requirements, non-ergonomic
activities, the lack of well-qualified workers etc. may require the use
of automation technology.. In this article an approach to process-
dependent task assignment to human or robot is presented. The
approach is based on a detailed analysis of the skills of humans and
robots, in order to bring it into balance with the required product and
process characteristics.
2. Gesture recognition for human-robot collaboration: A
review
Covering some of the most important technologies and algorithms of
gesture recognition, this paper is intended to provide an overview of
the gesture recognition research and explore the possibility to apply
gesture recognition in human-robot collaborative manufacturing.
3. Cobot programming for collaborative industrial tasks: An
overview
In this paper, an overview of collaborative industrial scenarios and
programming requirements for cobots to implement effective
collaboration is given. Then, detailed reviews on cobot programming,
which are categorised into communication, optimisation, and
learning, are conducted.
Literature survey.

6. SL.NO Title of the Paper Summary of the Paper
4. Digital Twin of Human Collaboration Robot In this study, computer simulations are used to develop a digital counterpart of
a human-robot collaborative work environment for assembly work. The digital
counterpart remains updated during the life cycle of the production system by
continuously mirroring the physical system for quick and safe embed for
continuous improvements. The case of a manufacturing company with human
robot work teams is presented for developing and validating the digital twin
framework
5. Augmented reality in support of Industry 4.0—Implementation
challenges and success factors
Industrial augmented reality (AR) is an integral part of Industry 4.0 concepts, as
it enables workers to access digital information and overlay that information
with the physical world. While not being broadly adopted in some applications,
the compound annual growth rate of the industrial AR market is projected to
grow rapidly.

7. OBJECTIVES
1.) Teaching Complex motion and Easy of Programming: To Teaching and training Robot for complex motion in the surrounding
environment
2.) Twin configuration: To Creating a Digital Twin of robot for recording and doing repetitive tasks
3.) Enhancing safety and Ergonomics: Since cobot work with humans, safety can be achieved by using sensors and Ergonomics design is
important

8. Block Diagram

9. Methodology.

10. Implementation Plan
September October November December January
System Integration
Research and analysis
Model Design
Study the Effect
and Optimize the
parameters of each
system
Selection of
project
February
Compare the
results and
Reporting

11. Model Design.
Wrist Mount
Shoulder
Base
Elbow

12. Components
1.MG995 Metal Gear Servo
Motor
Stall Torque (6.0V): 12kg-cm
2.Potentiometer 10k ohm 3.Ardunio
4.PVC Pipe and Elbow joint 5.Ultra-Sonic Sensors

13. Payload calculations
Payload
Total Arm length = 150 mm + 150 mm = 300 mm (0.3 m)
Torque of each motor at Joints = 12 kg-cm = 1.1772 Nm
Total Payload Capacity (Max.) = 1.1772Nm/(9.81* 0.3m) = 0.40 kg
Maximum working area = 1413.71 cm2
Maximum work volume = Aera* height = 1413.71cm2 * 32 cm = 45238.93 cm3 (approx.)
J0
J2
J1

14. Circuit Design

15. Creating Digital Twin using RoboDK

17. Safety System
1. Design for Safety - By making the curved surface and joints of robotic arm it increase safety of Human operators
causing lesser injuries in case of failure
2. Safety Sensor -Ultra-Sonic sensors could be an ideal solution to this as they can detect and monitor the distance
between human operators and machines.
3. Emergency Stop- Integrated Emergency Software and Hardware Stop Switch

18. Probable outcome:
1. Increased Productivity: Cobots can perform repetitive tasks with high precision and consistency, leading to increased production rates and overall
productivity.
2. Improved Quality and Accuracy: Cobots are capable of performing tasks with a high level of precision, reducing the likelihood of errors and defects in
manufactured products.
3. Enhanced Worker Safety: Cobots are designed to work safely alongside humans, minimizing the risk of accidents and injuries in the workplace. They
often have built-in safety features like collision detection and force-limiting technology.
4. Flexibility and Adaptability: Cobots can be easily reprogrammed or reconfigured to perform different tasks, making them highly versatile and adaptable
to changing production needs.

19. References.
1. Rethink Robotics. "What is a Cobot?" https://www.rethinkrobotics.com/collaborative-robots/
2. Universal Robots. "Collaborative Robots (Cobots)." https://www.universal-robots.com/collaborative-robots/
3. ISO/TS 15066:2016. "Robots and robotic devices - Collaborative robots." International Organization for
Standardization.
4. Carpin, S., et al. (2016). "A Survey of Human-Centric Industrial Robotics." Autonomous Robots, 40(5), 729-753.
5. Pires, J. N. (2018). "Industrial Robots Programming: Building Applications for the Factories of the Future." CRC
Press.
6. Siciliano, B., et al. "Robotics: Modelling, Planning and Control." Springer, 2010.