AUTONOMOUS CNC FEEDER

Project Title

AUTONOMOUS CNC FEEDER

Project Area of Specialization RoboticsProject Summary

Autonoumous CNC feeder is basically a robotic arm which have five degree of freedom and it is used to pick the objects from one place and put it into the CNC lathe machine chuck.The project comprises of six AC servo motors and in which one is used for the gripper which will not include in the number of rotations or the DOF which means the robotic arm have five degree of freedom. The robotic arm also have PLC for the controlling of AC servo motors and it have an end effector that have three jaws as it is flexible for the gripping and it uses flex sensor for the bending of the jaws in the holding purpose. We are using sheet metal of steel in order to make it lighter in weight. It is also very beneficial for the society because in automotive industry, thre is no need to pick heavy loads and it is also beneficial now a days in the kitchen as a helping hands for the women. It is also beneficial for the productivity as through continuous working on the production, it will reduce the shortage of stocks in the market that is good for the society.

Project Objectives

• The main objective of the robotic arm is to pick and place of objects.
• Effective in industries especially in automotive industries. 
• Reduce wastage of time as industry don't have to stop work in the night as they just have to give command and the robotic arm will do work by it self.
• Less chances of error and a great precision in grasping of objects. 
• Reduces human work load.
• A portable and easy to move from one place to another.

Project Implementation Method

The method for the implementation of our project is first of all we have done inverse kinematics in order to find the initial position of the robotic arm and then for movement we use it as a relative position to pick and place object to the chuck of CNC lathe machine. We have used gear mechanism to increase the input torque of the motors. 

Benefits of the Project

• This robotic arm will pick and place objects of different size and shape without human intervention.
• The robotic arm will work with less error and greater precision.
• In future,It can perform pick and placement at multiple machinesas we are going to give a specific path to it with the help of relays.
• The robotic arm can work continously without wastage of time.
• It can work in dangerous environment where it is difficult for humans to work. 

Technical Details of Final Deliverable

In this Autonomous CNC Feeder, the robotic arm is controlled through logics based on PLC. The flex sensor is used for the calculation of bending force that is used for the grasping of any object and the ultrasonic sensor is used for the detection of objects. As we have required a great precision and accuracy that's why we are using AC servo and AC is driving with PLC. The type of gripper we are using is three jaws gripper as it is flexible for gripping and it is easy to grip irregular shapes with it as three jaw gripper have equal 120 degree angle in each of it jaw and it is picking object from it's center to hold object tightly. We are using gear mechanism in it to increase the input torque of servo motor and the maximum payload of robotic arm is 250 grams. Steel metal sheet is used to make it a light weight.

Final Deliverable of the Project HW/SW integrated systemCore Industry OthersOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Industry, Innovation and Infrastructure, Responsible Consumption and ProductionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	79998
AC Servo motors	Equipment	6	7333	43998
PLC	Equipment	1	21000	21000
Sheets	Equipment	2	2500	5000
3d printing	Miscellaneous	1	9000	9000
Report printing	Miscellaneous	1	1000	1000