Sorting manipulator
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This document describes a project to design an autonomous manipulator to sort balls by weight using a SCARA robot. The manipulator will pick up balls from a specified area, weigh each one, and sort it into the corresponding tray based on its weight range. A Toshiba TH550 SCARA manipulator was selected for its circular work envelope, selective compliance, flexibility in the horizontal plane, and suitability for point-to-point movements. The specifications of the balls, manipulator dimensions, and end effector are provided.
Sorting manipulator
- 1. WEIGHT BASED BALL SORTING SCARA MANIPULATOR Kosuru Sai Malleswar Jayakrishnan TS Nakka Abhinay Goud
- 2. PROBLEM STATEMENT To design an autonomous manipulator which can Act on a specified area Sort objects based on their weights. Relocate them to a specified location. Repeat the cycle
- 3. FUNCTIONALITY Move the end effector to a specific location to pick up the ball Put the ball on the weighing machine/ weight feedback system Decide the range of the weight to which the ball belongs Ranges: below 56 grams between 56 grams and 59.4 grams above 59.4 grams Pick up the ball from weighing machine and put into the corresponding tray.
- 5. WHY SCARA ??? SCARA has circular work envelope. The selective compliant feature of the SCARA robot Flexibility in the horizontal plane. Faster and more precise performance Best suited for point-to-point movements SCARA robots tend to have small bases
- 6. SPECIFICATIONS The size of the balls: ~ 6.7 cm (2.63 in.) in diameter. The weight of the balls: 50g to 65g The height of the stand: 0.5 m The length of first revolute link: 0.3 m The length of second revolute link: 0.2 m The length of the prismatic link: 0.4 m The work space of the manipulator: Cylindrical annulus Minor radius = 0.1m Major radius = 0.5m Height = 0.5m
- 7. SPECIFICATIONS The end effector The length of each jaw of the parallel gripper: 10 cm The gap between the jaws: varies depending on ball size (range : 5 cm to 8 cm) The width of each jaw:2.5 cm EVG 2-Finger Parallel Gripper: A sensitive touch with adjustable length
- 8. POSSIBLE COMMERCIAL MODELS Jupiter SCARA Servo Robot System -830 -RJ1-A Toshiba SR-1204HSP
- 9. SELECTED COMMERCIAL MANIPULATOR TOSHIBA TH550 SCARA MANIPULATOR
- 10. SPECIFICATIONS OF THE SELECTED ONE
- 11. SPECIFICATIONS OF THE SELECTED ONE
- 12. SPECIFICATIONS OF THE SELECTED ONE
- 13. WEIGHT BASED BALL SORTING SCARA MANIPULATOR
- 14. THANK YOU