hint : using ispsoft software

3.4 Robot - Pneumatic Pick and Place It is a common industrial solution to apply pneumatic mechanism such as combinations of pneumatic cylinders and directional control valves (DVC) to perform picking and placing movements. A four-axis pneumatic robot is presented here as shown in Figure 4. START STOPO Vertical arm Horizontal shoulder | 9 Vertical trunk Wrist Rotary base Gripper Figure 4: Four-axis pneumatic Robot The robot is mechanically arranged and its main axes and the end effector are: 1. Rotary base (1" - Axis) Rotating the body clockwise and anti-clockwise at 180 degree Rotary cylinder and DVC of 5/2 ways double coils Action: clockwise or anti-clockwise 2. Vertical trunk (2nd - Axis) Lifting the body at height Double acting cylinder and DVC of 5/2 ways double coils Action: up or down 3. Horizontal shoulder (3rd - Axis) Extending the arm out Double acting cylinder and DVC of 5/2 ways double coils Action: extend or retract 4. Vertical arm (4th - Axis) Lowering the arm vertically Double acting cylinder and DVC of 5/3 ways double coils Action: up or down 5. Wrist (The end effector) Rotating the gripper clockwise and anti-clockwise at 90 degree Rotary cylinder and DVC of 5/2 ways single coil with spring Action: clockwise or anti-clockwise 6. Gripper (The end effector tool) Closing the gripper to hold an object. Double acting cylinder and DVC of 5/2 ways single coil with spring Basic Pick and Place Actions: When PB-START is ON, the pick and place action for a cycle: Referring to Figure 5 for definition of positions. 1. When SS is ( AB), the robot would pick from A and place at B 2. When SS is (AC), the robot would pick from A and place at C ed C position B position A position Sample product Figure 5: Position Definition of Pick and Place 3.4 Robot - Pneumatic Pick and Place It is a common industrial solution to apply pneumatic mechanism such as combinations of pneumatic cylinders and directional control valves (DVC) to perform picking and placing movements. A four-axis pneumatic robot is presented here as shown in Figure 4. START STOPO Vertical arm Horizontal shoulder | 9 Vertical trunk Wrist Rotary base Gripper Figure 4: Four-axis pneumatic Robot The robot is mechanically arranged and its main axes and the end effector are: 1. Rotary base (1" - Axis) Rotating the body clockwise and anti-clockwise at 180 degree Rotary cylinder and DVC of 5/2 ways double coils Action: clockwise or anti-clockwise 2. Vertical trunk (2nd - Axis) Lifting the body at height Double acting cylinder and DVC of 5/2 ways double coils Action: up or down 3. Horizontal shoulder (3rd - Axis) Extending the arm out Double acting cylinder and DVC of 5/2 ways double coils Action: extend or retract 4. Vertical arm (4th - Axis) Lowering the arm vertically Double acting cylinder and DVC of 5/3 ways double coils Action: up or down 5. Wrist (The end effector) Rotating the gripper clockwise and anti-clockwise at 90 degree Rotary cylinder and DVC of 5/2 ways single coil with spring Action: clockwise or anti-clockwise 6. Gripper (The end effector tool) Closing the gripper to hold an object. Double acting cylinder and DVC of 5/2 ways single coil with spring Basic Pick and Place Actions: When PB-START is ON, the pick and place action for a cycle: Referring to Figure 5 for definition of positions. 1. When SS is ( AB), the robot would pick from A and place at B 2. When SS is (AC), the robot would pick from A and place at C ed C position B position A position Sample product Figure 5: Position Definition of Pick and Place