The objective of this study is to design and manufacture the machine unit of an industrial robot, named KAISEM.
The robot is designed to perform loading and unloading workpieces in a machine shop and is selected as a point-to-point (PTP) type with cylindrical coordinate system.
The main action unit has a body with three degrees of freedom and a hand with two degrees of freedom.
As the main power source, high performance DC servo motors are used to drive the body for rotary traverse, vertical traverse and, radial traverse motion.
For the hand unit, pneumatic power is utilized.
The body unit is further divided into three parts and the main elements of each part are designed by considering working stress levels involved under worst conditions.
All the parts except the motors are machined to the design obtained and they are assembled by screws and welding.
During the whole process of design and manufacture, several difficulties are observed and many of them are improved and noted in this report.
The remaining problems and their solutions are left for further study.
A performance test of the robot combined with the electronic controller, which is developed by a team in Electrical and Electronic Department, will be done as a future project and the machine unit will be further improved according to the results.
