Design and analysis of a mobile robot mechanism for maintenance works in manufacturing environment

Lim, Say Li (2015) Design and analysis of a mobile robot mechanism for maintenance works in manufacturing environment. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This report presents the design and analysis of a mobile robot mechanism for maintenance works in manufacturing environment. The mobile robot is proposed to perform maintenance on MOMAC SM 200 lathe machine. It supposed to clean up the coolant fluid after the machine’s operation to prevent any potential damage to the machine. The mobile robot mechanism composed of three basic parts which are mobile platform for locomotion, manipulator arm for manipulation, and end-effector task execution. In order to determine the best performance for task execution, two designs are produced by using SolidWorks 2014 software based on the requirements identified. The designs are analyzed with SolidWorks Simulation software by developing a virtual prototype in a virtual workspace. The simulation is used to perform two analysis which are Motion Analysis and Finite Element Analysis (FEA). In motion analysis, the motion of mobile robot per cycle, where one set of back and forth of the mobile robot’s manipulator is considered as one cycle, is analyzed. The time taken for it to perform the motion is taken as a measurement of the performance. Where in FEA, the stresses and strains under internal and external loads is determined. The mobile robot’s performance is evaluated based on the result collected. For future prospect of this project development, the following aspects such as obstacles avoidance to prevent the mobile robot from colliding with the machine, navigation method for the mobile robot to move from original position to final position and implementation of sensor to activate the mobile robot’s performance is suggested to be undertaken.

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