hydraulic robotic arm

DEPARTMENT OF MECHANICAL ENGINEERING
ELITTE INSTITUTE OF ENGINEERING AND MANAGEMENT
P.O. Karnamadhavpur, P.S. Ghola, Sodpore, Kolkata – 700113 ESTD: 2009
Submitted in Partial Fulfilment
For The Diploma in MECHANICAL ENGINEERING
UNDER
UNDER THE GUIDANCE AND TECHNICAL SUPPORT OF MR. TOYEDUR HASAN
SUBMITTED BY:-
NAME: BIJOY MONDAL
ROLL: D150050006
NO: 54423
WEST BENGAL STATE COUNCIL OF TECHNICAL EDUCATION
2016
PROJECT NAME
MANUFACTURING OF HYDRAULIC ROBOTIC ARM
A DETAIL REPORT ON HYDRAULIC ROBOTIC ARM

ELITTE INSTITUTE OF ENGINEERING AND MANAGEMENT
P.O. Karnamadhavpur, P.S. Ghola, Sodepur, Kolkata – 700113
[Approved by AICTE & Affiliated to WBSCTE]
CERTIFICATE
_____________________
( Prof. Anjan kr.Kar )
Principal, E.I.E.M.
_____________________
External Examiner
____________________
( Mr. Toyedur Hasan )
Project Guide, EIEM
_____________________
( Mr. Bijan Mallick)
H.O.D. (Dept. Of M.E)
This is to certify that the dissertation entitled “UNIVERSAL
DESIGN PARTNERS”, Detailed final year project report on
HYDRAULIC ROBOTIC ARM, submitted by BIJOY
MONDAL have been prepared according to the rules and
regulations of the Diploma in MECHANICAL
ENGINEERING, awarded by the West Bengal State
Council of Technical Education and he has
fulfilled the requirements for submission of the dissertation.

ACKNOWLEDGEMENT
We seven students of Mechanical Engineering of 3rd year in ELITTE INSTITUTE OF
ENGINEERING & MANAGEMENT are preparing a final year project name
“HYDRAULIC ROBOTIC ARM”. We whole heartedly express our sincere gratitude to
Mr. Toyedur Hasan who guided us for the completion of the final year project. We
are also thankful to all your teachers for explaining on critical aspect of topics
related to the project .We are also grateful to the assistances of Workshop for
permitting us to have some help from them.
We would like thank all of the faculty member of all other respective departments
for their intimate cooperation throughout the period of project completion.
Date: 13/05/2016 Bijoy Mondal
Student of 3rd year Mechanical Engineering
ELITTE INSTITUTE OF ENGINEERING & MANAGEMENT

HYDRAULIC ROBOTIC ARM
CONTENTS PAGE NO.
1) Introduction 1
2) Principle of a Hydraulic Robotic Arm. 2
3) Classification of a Hydraulic Robotic Arm. 3
4) The Advantages and Disadvantages of 3
this Hydraulic Robotic Arm.
5) Materials used for Hydraulic Robotic Arm. 4
6) Components —
a. Hydraulic Cylinder. 5
b. Fluid Lines and Fittings. 6
c. Arms. 7
d. Grippers. 8
e. Chassis. 9
f. Motor. 10
g. Wheels. 11
h. DPDT Switch. 12
7) Procedure. 13
8) Conclusion. 14
9) Future Scope. 15
10) Reference. 16
11) Declaration. 17

HYDRAULIC ROBOTIC ARM Page 1
Introduction
Hydraulic Robotic Arm is a system which coupled by machines and hydraulic. It is widely
applicable in all kinds of large engineering equipment’s. Such as arm frame of crane. The
arm system of the redundant freedom, strong, nonlinear, coupled with rigid and flexible
characters. In hydraulic robotic arm the dynamic differential equation is built with the
driving force of the hydraulic cylinder as the main force.
By using the PD controlled theory without de coupling and rank decreasing only with
feedback from control of the arm and position pose and movement the relationship between
the hydraulic system and the end positions & pose is studied. The simultaneous result prove
the movement equation built by this way can clearly describe each dynamic character of the
mechanical arms.
A hydraulic drive system is a drive or transmission system that uses pressurized hydraulic
fluid to power hydraulic machinery. The term hydrostatic refers to the transfer of energy
from flow and pressure, not from the kinetic energy of the flow.
A hydraulic drive system consists of three parts: The generator (e.g. a hydraulic pump),
driven by an electric motor, a combustion engine; valves, filters, piping etc. (to guide and
control the system); and the actuator (e.g. a hydraulic motor or hydraulic cylinder) to drive
the machinery.

Principle of a hydraulic robotic arm
Pascal's law is the basis of hydraulic drive systems. As the pressure in the system is the same,
the force that the fluid gives to the surroundings is therefore equal to pressure × area. In
such a way, a small piston feels a small force and a large piston feels a large force. The same
principle applies for a hydraulic pump with a small swept volume that asks for a
small torque, combined with a hydraulic motor with a large swept volume that gives a large
torque. In such a way a transmission with a certain ratio can be built. Most hydraulic drive
systems make use of hydraulic cylinders. Here the same principle is used a small torque can
be transmitted into a large force. By throttling the fluid between the generator part and the
motor part, or by using hydraulic pumps and/or motors with adjustable swept volume, the
ratio of the transmission can be changed easily. In case throttling is used, the efficiency of
the transmission is limited. In case adjustable pumps and motors are used, the efficiency,
however, is very large. In fact, up to around 1980, a hydraulic drive system had hardly any
competition from other adjustable drive systems.
Nowadays, electric drive systems using electric servo-motors can be controlled in an
excellent way and can easily compete with rotating hydraulic drive systems. Hydraulic
cylinders are, in fact, without competition for linear forces. For these cylinders, hydraulic
systems will remain of interest and if such a system is available, it is easy and logical to use
this system for the rotating drives of the cooling systems, also. An important advantage of a
hydraulic drive is its high power density: the mass of a hydraulic drive is several times smaller
than the mass of an electric drive of the same power.

Classification of a hydraulic robotic arm
Hydraulic drives are traditionally divided into three classes. These are:
 Industrial hydraulics.
 Mobile hydraulics
 Aircraft hydraulics
The classification is basically due to the fact that components are classified in these categories,
although some overlap exists between industrial and mobile hydraulics, aircraft hydraulics
components are highly specialized due to extreme requirements on weight and certification.
The advantages and disadvantages of this
hydraulic robotic arm
Advantages:
a. The robot used can have many industrial uses.
b. When used in a locomotive format can be of great use in the production and packaging
field.
c. The simplicity and easy to repair design makes it really cheap.
Disadvantages:
a. The input here is mechanical.
b. Use of electrical circuits can make it much simpler to operate and have a better control
over it which is difficult in purely mechanical design.

Materials used for hydraulic robotic arm &
costing
Innovation components allow for greater alternative and innovative designs. They are not
required, but are suggested to bring more engineering and innovation to the activity. Only
a few innovation components are usually needed to create alternative designs, so your supply
of innovation components can be used for many hydraulic arms and other activities. Here
are the components that are used in this project :-
 Anything else things like the rubber, insulating tape, fevi-kwik, silicone gum, broken toy,
colours (yellow & black), etc.
SL NO. COMPONENTS SPECIFICATIONS QUANTITY PRICE
1. Hydraulic cylinders
(Syringe)
20ml. & 10ml. 3 Pcs.
&
1 Pcs.
45.00
2. Hydraulic Lines
(Vinyl Tubing)
7 ft. 2 Pcs. 220.00
3. Aluminum Channel
2
1
2
ft.
1 Pcs. 500.00
4. Wheel 7×4 cm. 2 Pcs. 70.00
5. D.C. Motor 60 R.P.M , 12volt 2 Pcs. 240.00
6. D.P.D.T Switch 15A 2 Pcs. 60.00
7. Chassis - 1 Pcs. 100.00
8. Small Wheel 2.5×1 4 Pcs. 30.00
9. Battery 9 volt 2 Pcs. 40.00
10. Battery Clip
Connector
For 9 volt battery 2 Pcs. 10.00
11. Wire 2g (5 wire combo) 1 Pcs. 40.00
12. Nuts & Bolts Set 5”,
1
2
”,1” Total 32 Pcs.
+extra nuts
&washer
145.00
Total Price 1500.00

Components
a.Hydraulic Cylinder
A Hydraulic cylinder (also called a linear hydraulic motor) is a mechanical actuator that is
used to give a unidirectional force through a unidirectional stroke. It has many applications,
notably in engineering vehicles. Hydraulic Fluids Petroleum Based Synthetic fire resistant
water based fire-resistant. Hydraulic cylinder as shown in fig 1.
 By here in this project we used the syringe for substitute of the cylinder because of the
cost of the project and it’s a model and in future it’s elaborate and use for industrial
purpose or reality then in this model the hydraulic cylinder are used. Syringe as shown
in fig 2.
Fig 1

b.FLUID LINES AND FITTINGS
The control and application of fluid power would be impossible without suitable means
of transferring the fluid between the reservoir, the power source, and the points of
application. Fluid lines are used to transfer the fluid, and fittings are used to connect the lines
to the power source and the points of application.
TYPES OF LINES
Three types of lines is used in this system are pipe (rigid), tubing (semi rigid) and hose
(flexible).
PIPES AND TUBING
There are three important dimensions of any tubular product - outside diameter (OD), inside
diameter (ID), and wall thickness. Sizes of pipe are listed by the nominal (or approximate)
ID and the wall thickness. Sizes of tubing are listed by the actual OD and the wall thickness.
SELECTION OF PIPES AND TUBING
The material, ID, and wall thickness are the three primary considerations in the selection of
lines for a particular fluid power system. Since it determines how much fluid can pass
through the line in a given time period (rate of flow) without loss of power due to excessive
friction and heat. The velocity of a given flow is less through a large opening than
through a small opening. If the ID of the line is too small for the amount of flow, excessive
turbulence and friction heat cause unnecessary power loss and overheated fluid.
 In our project we have used two sections of clear 1/8 I.D. Vinyl tubing of different
lengths. Vinyl tubing as shown in fig 3.
150 cm (~60”),
150 cm (~60”)
Fig 3

c.Arms
Arms is the vital part of this vehicle one is base arm in which the whole structure of the arms
are steady and second is the vertical arm in which the gripper and all small arms are fixed.
 It is the base arm in which the whole structure are attached or fixed and by this arm the
whole structure are stable. Base arm as shown in fig 4.
 It is the vertical arm or the gripper joining arm in this arm the gripper are joint by the
screw and in for this arm the gripper is steady and the load carrying capacity is defined
by this arm. Vertical arm as shown in fig 5.
Fig 4 Fig 5

d.Grippers
Grippers are used to grasp and hold objects. The objects are generally work parts that are to
be moved by the hydraulic arm. These part handling applications include machine loading
and unloading, picking parts from a conveyor, and arranging parts into a pallet.
Depending on the mechanism used for the purpose of gripping they can be classified as:
1. Mechanical Grippers.
2. Adhesive Grippers.
3. Hooks, Scoops etc.
4. Vacuum Cups.
5. Magnetic Grippers.
Here in this model we used mechanical grippers & hook gripper.
 A mechanical gripper is used as an end effector in a robot for grasping the objects with
its mechanically operated fingers. In industries, two fingers are enough for holding
purposes. As most of the fingers are of replaceable type, it can be easily removed and
replaced. Mechanical gripper as shown in fig 6.
 A hook gripper is incorporated in an operation for picking up the containers of parts.
Moreover, this type of grippers can be used in the part loading and unloading process in
which the work parts hang from the overhead conveyors.hook gripper as shown in fig 7.

e. Chassis
This is the base or a chaises for which the two arms and whole body are fixed in this base.
The base is made of steel and the lower hole the motor are fixed and in the motor shaft the
wheels are fixed for this reason the vehicle or the hydraulic arm are move in anywhere and
the motor are operated by manually so in anywhere the we used this.
Powder coated Metal chassis for robots. Easy to mount the motors on place by using normal
motor mount nut. It can be used in skid steel configuration or differential configuration (2
rear wheels + 1 front castor wheel). The body contains perforated holes for easy mounting
of various size circuit boards and other mechanical components. Chassis as shown in fig 8.
Length : 110mm
Width : 105mm
Height : 40mm

f. Motor
Features
60RPM 12V DC geared motors for robotics applications. Very easy to use and available in
standard size. Nut and threads on shaft to easily connect and internal threaded shaft for easily
connecting it to wheel. It is mainly use to move our hydraulic robotic arm to any directions
and operated manually by Double Pole Double Throw (DPDT) Switch.
Specifications
 60RPM 12V DC motors with Gearbox base motor.
 6mm shaft diameter with internal hole.
 125gm weight.
 Same size motor available in various rpm.
 2kgcm torque.
 No-load current = 60 mA(Max), Load current = 300 mA(Max).
 Motor as shown in fig 9.

 25mm diameter
 10mm width
 Made from virgin plastic
 Small wheel as shown in fig 11
g.Wheels
A differential wheeled robot is a mobile robot whose movement is based on two separately
driven wheels placed on either side of the robot body. It can thus change its direction by
varying the relative rate of rotation of its wheels and hence does not require an additional
steering motion. If both the wheels are driven in the same direction and speed, the robot will
go in a straight line. If both wheels are turned with equal speed in opposite directions, as is
clear from the diagram shown, the robot will rotate about the central point of the axis.
High quality Plastic Tracked Wheel for motors with 6 mm dia and small wheels 25mm dia.
 60mm diameter
 40mm width
 Hole diameter 6.1 mm
 Screw for fastening on motor shaft
 Made from virgin plastic
 Motor wheel as shown in fig 10

h.DPDT Switch
A Double Pole Double Throw toggle switch acts exactly like two separate SPDT switches
connected to the same switch bat. DPDT switch as shown in fig 13.It has two separate
common terminals and each of those is connected to one or the other of the other two
terminals on the same side of the switch. DPDT switch wired for phase reversal as shown in
fig 12.The dotted line in the picture is to illustrate that the switch is actually two SPDT
switches in one package with one switch bat. DPDT double pole double threw as shown in
fig 14.

Procedure
 Firstly we take the some aluminium (U) channel and cut it for the arms.
 Then take a steel base and the first arm fixed on the steel base for screw.
 Next in the back side of the base two 60 r.p.m. gear motor fixed in given position and
in this motor shaft robot wheels are fixed. The pair of small wheels are fixed in front
side of the base. For this reason the vehicle is slowly moved.
 After that make holes on the arm for fixed the arms. Then the arm are fixed by nut
and screw and also used washer for free movement of arms.
 There after take aluminium sheet for the small arms of the vehicle and cut the arms
by measurement of and hole of this arms for both poles to fixed of the arms in the
vehicle. The holes are measured by the screw measurement.
 After that take two syringes and joint the syringes by a pipe and the pipe is fixed by
the glue in the syringe nozzle. And leave it for one hour to permanently fixed the glue.
 After that in this joint syringes feel up by the water to follow the Pascal’s law. And it’s
essential that the water in the syringe without any vacuum or without any bubbles.
 Last the water fell up syringes are fixed in the arms to move the arms by the pressure
of the water or hydraulic.
 At last to check the all joints and check the all movements of the robotic hydraulic arm
and ready the robotic hydraulic arm is ready to use. In this way the robotic hydraulic
arm is made.

CONCLUSION
Our design uses extremely simple ideas and mechanisms to achieve a complex set of actions
and is intended to imitate the action of the operators. However, these hydraulic arms are
expensive for small scale industries. If the major problem of high initial cost is addressed, a
robotic hydraulic arm can be introducing in any industry to bring in automation. The
mechanical links and parts that have been fabricated are extremely simple.
The Hydraulic Arm Will-
Reach the greatest distance to deliver a given object.
Pick up the heaviest possible object.
Deliver the most objects in a given amount of time.
Function in an assembly line.
Have a system to weight the object it picks up.
Battle against another arm of an object.
Rotate as well as reach and grab.
Dig and recover objects.
So, we are confident that the people will understand and join us on the quest to make our
planet a pollution free place to live in.

FUTURE SCOPE
If more time and more efforts would have been put into the model, more complexities could
have been brought out. Moreover instead of manual operation of syringes could have been
replaced by pre-defined computer programs or merely by pressing the switch operated.
Further, more varieties and more flexibility to add or replace any part according to
requirements can be done to improve its use and increase field of usage and to make it more
universal or flexible. As we know that the natural source of fuel is decreasing day by day, we
need to remove our dependency on these sources with an alternative resource. We have to
use some of alternative Energies like Solar Energy, in our vehicle.

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/engines-equipment/hydraulic.htm
 http://www.slideshare.net/suchitmoon/syringe-actuated-mechanical-
arm?next_slideshow=1
 http://www.slideshare.net/suchitmoon/syringe-actuated-mechanical-arm-32128867
 http://www.slideshare.net/vivek6456/hydraulic-arm-44816055
 https://www.scribd.com/doc/93124305/Hydraulic-Arm-Project
 A text book of Fluid Mechanics by R.K. Bansal

DECLARATION
I Bijoy Mondal the student of 3rd year in Mechanical Engineering of Elitte Institute Of
Engineering & Management. It is my pleasure to get an opportunity to made a project on
hydraulic robotic arm and also fulfil my thoughts.
I declared that the project on hydraulic robotic arm is completed positively and I want
to give thanks Mr. Toyedur Hasan ( project guide ) & Mr. Bijan Mallick ( H.O.D of Mechanical
Engineering ) and also my friends, because of their huge effort make the way of that project
very smooth and easy.
……………………………………………..
Declared By – Bijoy Mondal
(Student of 3rd year Mechanical Engineering)
Date:
Place:
……………………………....……. ………………….………………........
( Mr. Bijan Mallick ) ( Mr. Toyedur Hasan )
H.O.D. (Dept. Of M.E) Project Guide, EIEM
Date: Date:
Place: Place:

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