2 Degree-of-Freedo

MANIPULATOR
Mini-Project
ME657 : MECHATRONICS
Autumn Semester 2014-15
IIT Indore
Vibhor Pandhare [1100337]
Jayant Mohanta [1401103005]
Satish Chandra [1401103008]

What is a Manipulator?
a lift assist device used to lift, maneuver and place
articles.
manipulators have the ability to reach in to tight
spaces and lift work-pieces and work basically
designed to automate work.

2 DOF Manipulator | Mechatronics | IIT

What we are making?

A prototype of pick-and-drop 2 DOF Manipulator,
mainly oriented towards Assembly Line operations,
using Servo Motors.

2 DOF Manipulator | Mechatronics | IIT

2 DOF Manipulator | Mechatronics | IIT

2 DOF Manipulator | Mechatronics | IIT

Material Required

2 Servo Motors
1 Servo Motor for gripper
1 Gripper
Aluminium Connecting Rods
Arduino UNO [ATMEGA328]
Connecting Wires
Industrial Glue
Nut-Bolts
Base Plate

Rs.450 x 2
Borrowed
Rs.350
Recycled
Borrowed
Rs.20
Rs. 80
Rs. 50
Recycled

Total: Rs. 1400/2 DOF Manipulator | Mechatronics | IIT

Applications
For handling parts in assembly line from one conveyor to
another
For light weight/fragile/delicate items
Scaled up model can be used to load/unload transport
vehicles
For objects which cannot be handled by humans: like hot,
radioactive, heavy
For welding, painting, assembly
For packaging, product inspection and testing

2 DOF Manipulator | Mechatronics | IIT

Limitations
Power consumption
Chances of error accumulation or offset leading to
inefficiency
High maintenance cost
Regular calibration for high precision applications leading to
increase in downtime

2 DOF Manipulator | Mechatronics | IIT

Advantages

For continuous production

High endurance
High speed
High precision
Increased productivity
Ease of packing

2 DOF Manipulator | Mechatronics | IIT

Gantt Chart

2 DOF Manipulator | Mechatronics | IIT

Gantt Chart
10th Oct

11th Oct

12th Oct

17th Oct

18th Oct

19th Oct

24th Oct

25th Oct

26th Oct

2 DOF Manipulator | Mechatronics | IIT

Fabricated model

2 DOF Manipulator | Mechatronics | IIT

Fabricated model

DOF 2

Connecting
Wires

NutBolts

Servo
Motor 2

DOF 1

Servo
Motor 3
Counterweight for
rotating

Counterweight for
lifting

Power
Supply

Servo
Motor 1

Program

Gripping
Jaws
Work-piece
Dropping
Point

Arduino
Controller
Base Plate

2 DOF Manipulator | Mechatronics | IIT

THANK YOU
Vibhor Pandhare

1100337
Jayant Mohanta

1401103005
Satish Chandra

1401103008