Conceptual And Mechanical Design Of Master Slave (Parent - Child) Robot For Painting Application

Hairul Anuar , Mohd Yusof (2007) Conceptual And Mechanical Design Of Master Slave (Parent - Child) Robot For Painting Application. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

In 1920, robotic be found when Czechoslovakian playwright Karel Capek introduces the word robot in the play R.U.R. - Rossum's Universal Robots. The word comes from the Czech robota, which means tedious labor. In 1938, the first programmable paint-spraying mechanism is designed by Americans Willard Pollard and Harold Roselund for the DeVilbiss Company. In 1951, in France, Raymond Goertz designs the first tele-operated articulated arm for the Atomic Energy Commission. The design is based entirely on mechanical coupling between the master and slave arms (using steel cables and pulleys). Derivatives of this design are still seen in places where handling of small nuclear samples is required. This is generally regarded as the major milestone in force feedback technology. The main function of a master slave arm for a painting application is to paint some part that difficult to paint. Why robot arm are useful for painting is because the painting itself can be hazardous for human. The design of the arm robot can paint some other part by using arm robot and controlled by using master arm robot. Every movement can be controlled by master arm robot. Effectiveness of the proposed method is confirmed by experiments using a developed three-axis master-slave arm system. In this project, it was specially focused and involves in Conceptual and Mechanical design of Master Slave Robot for Painting Application that to design and choose the best of arm robot that will be build for prototyped. The proposed arm master system consists of a self-contained computing hardware with a potential motors at each arm joints. The purpose of this master unit is to measure the angular position of the joints of the user’s arm. These angular positions are transmitted, as voltages, to the transducer interface. For Slave Robot, the mechanical arm can cover a range of human arm movements. The complexity of the human arm makes any attempt to mimic.

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