ArmRobot - ifts automazione

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Ministero della Pubblica IstruzioneCorso IFTSTECNICO SUPERIORE PER L’AUTOMAZIONE INDUSTRIALETESI TECNICO OPERATIVA ARMRobot DISEGNI,…
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Ministero della Pubblica IstruzioneCorso IFTSTECNICO SUPERIORE PER L’AUTOMAZIONE INDUSTRIALETESI TECNICO OPERATIVA ARMRobot DISEGNI, CALCOLI, SCHEMI.Allievo: Cognome: FasoglioNome: MarcoASTI 29 MAGGIO 2012Indice:- Meccanica, calcoli strutturali, messa in tavola - Logo - Schemi elettrici, azionamenti, e controlli - Scheda di sicurezza e normativa CEDescrizione: L’ARMRobot nasce come aggiunta alla tesina ufficiale; è l’idea di proporre una nostra versione della meccanica e degli azionamenti in base alle esperienze e alle materie sviluppate nel corso. Il robot è ideato secondo con una logica molto semplice per consentire un assemblaggio veloce e un costo molto basso della componentistica. Nasce per far acquisire pratica a livello didattico; nell’insieme è un vero modello di braccio robot. In questa pubblicazione abbiamo riassunto il percorso progettuale per ottenere un robot composto da 6 assi, movimentato tramite servo motori e capace di portare un carico massimo di 0,5 kg; oltre ad essere controllato tramite l’Arduino UNO R3 e di monitorare il processo da pannello lcd; il microcontrollore ci ha dato la possibilità di sviluppare due tipologie di controllo una con un normalissimo telecomando da televisione e l'altra con l'utilizzo di un mouse ottico con uscita usb. La meccanica, calcoli strutturali, messa in tavola:Meccanica, calcoli strutturali, messa in tavola:P1Pm1P2Pm2P3Pm3P4PutensileMrl0l1l2l3Lunghezza totale 1,02 m Peso totale 1,43 kg PotenzaSpallaAvanbraccioBraccioUtensile148 WHa m1Va INPUT Peso spalla = Peso motore1 = Peso avanbraccio = Peso motore2 = Peso braccio = Peso motore3 = Peso braccio per utensile = Peso utensile = Lunghezza spalla = Lunghezza avanbraccio = Lunghezza braccio = Lunghezza braccio utensile =m2m3OUTPUT 0,42 0,077 0,12 0,077 0,12 0,077 0,04 0,5 0,2 0,35 0,35 0,118kg ->N kg ->N kg ->N kg ->N kg ->N kg ->N kg ->N kg ->N m m m m4,2 0,77 1,2 0,77 1,2 0,77 0,4 5∑ forze =Forza Orizzontale=14,31N ->kg1,43Forza Verticale=14,31N ->kg1,43Momento resistente=2,442Nm->Kgm0,24Momento del motore 1 =3,059Nm->Kgm0,31Momento del mtore 2=2,3695Nm->Kgm0,24Momento del mtore 3=0,6136Nm->Kgm0,060287 6601005108,280306001,5 120 2405530 60 1106528710TITOLO:I.F.T.S Automazione Industriale 10,381 221,525N. DISEGNO5SCALA:1:1A3Tavola 1 FOGLIO 1 DI 1100 30Smussi non quotati 2x45°30110707,50040 48,1305660 R420 512 6 28 7 510,16056510052857 51051,500A53030 10 63096,480 63,240285751030 10 610053 41,500TITOLO:I.F.T.S Automazione Industriale10 N. DISEGNOASEZIONE A-ASCALA:1:1A3Tavola 2 FOGLIO 1 DI 135070401050 20407,5003056550Raccodi non quotati R5 7035030 20 10,1604055048,130TITOLO:I.F.T.S Automazione IndustrialeRaccodi non quotati R5N. DISEGNOSCALA:1:1A3Tavola 3 FOGLIO 1 DI 145106,480 48,130 407,500620 405 2020610,1600 R35120SEZIONE C-C96,480C10134,656C6R558 R345540 204,44050 20R1 0434,928 408 41 18 4, 1,94603430 30SEZIONE B-B3546,95022,08°487,5004 62522,928BBTITOLO:I.F.T.S Automazione Industriale15 N. DISEGNOSCALA:1:1A3Tavola 4 FOGLIO 1 DI 16212220 91829162619231725 28 27 11122471015 4 3 5 13 1418 TITOLO:I.F.T.S Automazione Industriale2 N. DISEGNOSCALA:1:2A3Tavola 5 FOGLIO 1 DI 1Num. articoloNum. parteQuantità 1Parte mediana12 3 4 5 6 7 8 9 10 11Spalla Parte superiore ISO 7380 - M6 x 30 --- 30C Hexagon Nut ISO - 4034 - M6 - C bottom cover servo Case servo cover spline output CR-BHMS 0.06-80x0.625x0.625-S ServoHornPlastic5 1 34 34 9 9 9 9 36 912ISO 7380 - M3 x 6 --- 6C913 14 15disco distanziatore Base spalla Spalla superiore3 1 216Braccio-A217Distanziale braccio a518 19 20 21 22Braccio-B Distanziale braccio b Part8 Part6 Part52 5 1 2 123ISO 7045 - M4 x 25 - Z --- 25C824 25 26Part4 Part2 Part6A 0.252 4 227Part3428Hexagon Nut ISO - 4032 - M4 - W - N629Part11TITOLO:I.F.T.S Automazione Industriale N. DISEGNOSCALA:1:1A3Tavola 5 1 FOGLIO 1 DI 1TITOLO:I.F.T.S Automazione Industriale N. DISEGNOSCALA:1:2A3Tavola 6 FOGLIO 1 DI 1Il logo:Si è pensato ad un logo per essere riprodotto sul robot per identificarlo. Abbiamo pensato a una forma che potesse essere un collegamento continuo tra le diverse aree sviluppate: meccanica, collegamenti elettrici e comandi, con la parte di sviluppo e programmazione. All' incontro delle linee del disegno si è riportato l'acronimo I.F.T.S e la scritta in basso ARMRobot. Il logo verrĂ riprodotto attraverso una fresa a controllo numerico asportando 1mm di materiale.00 R1500 1850050505018501000 R1 Raccordi non quotati R2 I.F.T.S. - Tecnico Superiore Automazione Industriale TITOLO:A4Logo SCALA:1:5FOGLIO 1 DI 1il codice: N10 G00 Z0.10000000 N20 G00 X150.09828368 Y113.12657270 N30 G01 Z0.00000000 N40 G01 X148.55982223 Y113.12657270 N50 G00 Z0.10000000 N60 G00 X145.94443599 Y113.12657270 N70 G01 Z0.00000000 N80 G01 X145.94443599 Y114.20349750 N90 G00 Z0.10000000 N100 G00 X147.48289743 Y114.20349750 N110 G01 Z0.00000000 N120 G01 X147.48289743 Y117.74196300 N130 G01 X148.55982223 Y117.74196300 N140 G01 X148.55982223 Y114.20349750 N150 G00 Z0.10000000 N160 G00 X150.09828368 Y114.20349750 N170 G01 Z0.00000000 N180 G01 X150.09828368 Y113.12657270 N190 G00 Z0.10000000 N200 G00 X148.55982223 Y113.12657270 N210 G01 Z0.00000000 N220 G01 X148.55982223 Y105.43426547 N230 G01 X147.48289743 Y105.43426547 N240 G01 X147.48289743 Y113.12657270 N250 G01 X145.94443599 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