v
TABLE OF CONTENT
Abstract i
Abstrak ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables ix
List of Figures x
List of Abbreviations xiv
1. INTRODUCTION
1
1.1 Problem Statement
3 1.2
Objectives 4
1.3 Scope
4 1.4
Benefits of the Project 5
2. LITERATURE REVIEW
6
2.1 Introduction to robot
6 2.2
Type of Robot 8
2.2.1 Industrial Robot 8
2.2.1.1 Cartesian robot Gantry robot 10
2.2.1.2 Cylindrical robot 10
2.2.1.3 SphericalPolar robot 11
2.2.1.4 SCARA robot 11
2.2.1.5 Articulated robot 12
2.2.1.6 Parallel robot 12
2.2.2 Humanoid Robot 13
2.3 Robot Anatomy
15 2.3.1 Mechanical Structure
15
vi 2.3.1.1 Frame
16 2.3.1.2 Locomotion
22 2.3.1.3 Gripper
24 2.3.1.4 Gear
26 2.3.1.5 Bearing
31 2.3.2 Motor
34 2.3.2.1 AC inductions motors
34 2.3.2.2 DC motors
38 2.3.2.3 Permanent Magnet Synchronous Motor
41 2.3.2.4 Stepper Motor
42 2.3.2.5 Switched Reluctance Motor
44 2.3.2.6 Universal Motor
47 2.3.3 Controller
49 2.3.3.1 Programmable Logic Controller
49 2.3.3.2 Microcontroller
52 2.3.4 Electrical and electronic components
54 2.3.4.1 Resistor
54 2.3.4.2 Capacitor
56 2.3.4.3 Diode
58 2.3.4.4 Transistor
60 2.3.4.5 Relay
62 2.3.5 Batteries
63 2.3.5.1 Nickel Cadmium
64 2.3.5.2 Nickel Metal Hydride
64 2.3.5.3 Lithium Ion
65 2.3.5.4 Sealed Lead Acid
65
3. METHODOLOGY
67
3.1 Flow Chart
67 3.1.1 Problem Statement
69 3.1.2 Planning
69
vii 3.1.3 Literature Review
72 3.1.4 Design
72 3.1.5 Construction and Integration
73 3.1.6 Testing
74 3.1.7 Analyzing
74
4. DESIGN AND DEVELOPTMENT
75
4.1 Conceptual Design
75 4.1.1 Design requirement
75 4.1.2 Material Selection
77 4.1.3 First Design
77 4.1.4 Second Design
79 4.1.5 Third Design
81 4.1.6 Design Selection
83 4.2
Development of Mechanical Structure 84
4.2.1 Base 84
4.2.2 Lifting Mechanism 87
4.2.3 Supporting Element 89
4.2.4 Gripping Mechanism 90
4.3 Controller Unit
93 4.3.1 Cytron AR40B Controller Board
93 4.3.1.1 Cytron AR40B Controller Board Descriptions
94 4.3.1.2 Connection to Controller Board
95 4.3.2 Hand Hold Controller
97 4.3.2.1 Hand Hold Controller Descriptions
98 4.4
Motor Driver 99
4.4.1 Cytron MD30B Motor Driver Description 100
4.4.2 Connection to Motor Driver 101
5. ANALYSIS, RESULT, TESTING AND DISCUSSION 103
