v
TABLE OF CONTENT
Abstract i
Abstrak ii
Dedication iii
Acknowledgment iv
Table of Content v
List of Tables ix
List of Figures x
List Abbreviations xiv
1. INTRODUCTION 1
1.1 Objective
2 1.2
Scope 2
1.3 Benefit of this Project
3
2. LITERATURE REVIEW 4
2.1 DC Motor
4 2.1.1 Lorentz Force
6 2.1.2 Kirchoff’s Voltage Law
8 2.1.3 Magnetomotive Force mmf
8 2.1.4 Induced Voltage
8 2.1.5 Neutral zones
9 2.1.6 Generation of DC Voltage
10 2.1.7 Improvement of DC output Waveform
11 2.1.8 Counter-electromotive force cemf
13 2.1.9 Armature Reaction
14 2.1.10 Commutation Poles
15
vi 2.2
Mechanical Properties of DC Motor 15
2.2.1 Acceleration of the DC Motor 16
2.2.2 Power and Torque 17
2.3 Types of DC Motor
18 2.3.1 Shunt Dc Motors
19 2.3.2 Series DC Motor
21 2.3.3 Compound DC Motor
22 2.3.4 Advantages and Disadvantages
23 2.3.4.1 Between three types of DC motor
23 2.3.4.2 Between Alternating Current AC and DC
26 2.4
Control of DC Motor 29
2.5 Robotic Arm
30 2.6
Control of DC motor in Robotic Arm 35
2.6.1 Relay 36
2.7 Materials
38 2.7.1 What is Stainless Steel?
38 2.7.2 Role of Alloying Elements in Stainless Steel
40 2.7.2.1 Carbon
40 2.7.2.2 Chromium Cr
40 2.7.2.3 Nickel Ni
41 2.7.2.4 Molybdenum
41 2.7.2.5 Manganese
41 2.7.2.6 Silicon and Copper
41 2.7.2.7 Nitrogen
42 2.7.2.8 Niobium
42 2.7.2.9 Titanium
42 2.7.2.10 Sulphur
43 2.7.3 More about stainless steel
44 2.7.3.1 Martensitic Stainless Steel
44 2.7.3.2 Ferritic Stainless Steel
45 2.7.3.3 Austenitic Stainless Steel
45
vii 2.7.3.4 Duplex Stainless Steel
46 2.7.4 Nonferrous Alloy Steels
47 2.7.4.1 Aluminum and Aluminum Alloys
47
3. METHODOLOGY 52
3.1 Research
52 3.1.1 Determination of objectives and scopes for first stage of project
54 3.1.2 Research on DC motor
54 3.1.3 Research on control of DC motor, robot arm and controlling DC motor
54 on robot arm
3.1.4 Conceptual Design 55
3.1.5 Determination of Design to Use 56
3.1.6 Technical Drawing of the Design 57
3.1.7 Material Selection 57
3.1.8 Motor Selection 58
3.2 Project tools and equipments
59
4. DESIGN AND DEVELOPMENT 60
4.1 Design Process
60 4.1.1 Design Determination
67 4.2
Material Selection 68
4.3 Motor Selection
72 4.3.1 Motor Type
73 4.3.2 Operating Voltage and Current
74 4.3.3 Power rating and speed
74 4.3.4 Torque
76 4.4
Development of Robot Arm 77
4.4.1 Base Shaft 78
4.4.2 First Joint Shaft 80
4.4.3 Second Joint Shaft 81
4.4.4 Base 83
viii 4.4.5 Connector
84 4.4.6 Robot Arm Links
85 4.5
Controller Selection 86
4.5.1 Operation of Standard Controller 87
4.5.2 Development of Controller 89
4.6 Test Design
94
5. RESULT 96
