G.L.

BAJAJ INSTITUTE OF TECHNOLOGY Mini Project

AND MANAGEMENT (To Prepare a mechanical arm

working on the principles of
hydraulics with basic movements.)
 Inspiration

We four students of Mechanical Engineering of 2nd year are preparing

a mini project named “HYDRAULIC ARM”. We whole heartedly express
our sincere gratitude to Mr. Binit Kumar who guided us for the selection
of the project topic. We are also thankful to all our teachers for
explaining on critical aspect of topics related to the project and to the
assistances of Workshop for permitting us to have some help from
them. We would like thank all of the faculty member of all other
respective departments for their intimate cooperation throughout the
period of project completion.
 CONTENTS

 INTRODUCTION
 Application
 Parts
 Hydraulic actuation
 PRINCIPLE OF HYDRAULIC ROBOTIC ARM
 Pascal’s principle and hydraulics
 Application of Pascal’s law
 Hydraulics In Practice of Robot Power
 CONTENTS

 DEVELOPMENT OF MODEL
 Material Used
 Procedure

 SAFETY PRECAUTIONS
 CONCLUSION
 FUTURE SCOPE
 REFERENCE
  Hydraulic Robotic Arm is a system which coupled by machines and
hydraulic. It is widely applicable in all kinds of large engineering
equipment’s. Such as arm frame of crane. The arm system of the
redundant freedom, strong, nonlinear, coupled with rigid and flexible
characters. In hydraulic robotic arm the dynamic differential equation is
built with the driving force of the hydraulic cylinder as the main force.
 By using the Pascal’s theory without de coupling and rank decreasing
only with feedback from control of the arm and position pose and
movement the relationship between the hydraulic system and the end
positions & pose is studied. The simultaneous result prove the
movement equation built by this way can clearly describe each
dynamic character of the mechanical arms.
INTRODUCTION  A hydraulic drive system is a drive or transmission system that uses
pressurized hydraulic fluid to power hydraulic machinery. The term
hydrostatic refers to the transfer of energy from flow and pressure, not
from the kinetic energy of the flow.
 A hydraulic drive system consists of three parts: The generator (e.g. a
hydraulic pump), driven by an electric motor, a combustion engine;
valves, filters, piping etc. (to guide and control the system); and the
actuator (e.g. a hydraulic motor or hydraulic cylinder) to drive the
machinery.
 INTRODUCTION ABOUT THE
MECHANISM
• A robotic arm which is hydraulically operated and controlled by syringes filled with some fluid. It consists of various parts connected to
each other in a pre-designed manner which are guided in a constrained way to obtain required output.
 APPLICATION
• These arms are used in assembly lines of mega factories to assemble various parts of a product and also to paint vehicles. They are also
used in earth movers to pick up heavy weight and keep them where required. Same principle is being used in JCB’s, automobile lifters,
etc.
 PARTS
• In the mechanism, each part has been provided with certain degree of freedom to move in a constrained way to guide other parts and
also to pick up small weight items and to place them wherever required. The complete mechanism consists of a fixed vertical link. To its
free end is connected or better to say hinged, another horizontal link which is free to oscillate about that hinge in an up-down way of
motion. Tothis link is connected a slotted type mechanism which consists of a slotted box which itself can oscillate about its hinge and
in it is a sliding link which can come out of the slot to have the slider like motion.To this slider is connected a surface, underneath
which are attached 4 spoons acting as arm to pick up the items. The entire mechanism is fixed on a rack and pinion type mechanism to
allow degree of freedom of the mechanism as a whole to rotate by 130degrees.
 Hydraulic actuation
All the movements above are controlled hydraulically by syringes attached to each one.
The hydraulic supply acts like the arm’s heart and muscles. It provides the energy for pushing,
pulling, turning and lifting.

A TYPICAL MODEL OF SYRINGE ACTUATING MECHANICAL ARM

Pascal's Principle and Hydraulics

Hydraulic systems use incompressible fluids, such as oil or water, to transmit

forces from one location to another within the fluid. Hydraulics are used in most
breaking systems. Pascal's law states that when there is an increase in pressure at
any point in a confined fluid, there is an equal increase at every other point in the
container.
Therefore Pascal's law can be interpreted as saying that any change in pressure
applied at any given point of the fluid is transmitted undiminished throughout the
fluid.
APPLICATIONS OF PASCAL’S LAW
Gases are easy to squash: everyone knows how easy it is to squeeze a balloon. Solids are just the opposite. If you've
ever tried squeezing a block of metal or a lump of wood, with nothing but your fingers, you'll know it's pretty much
impossible. But what about liquids? Where do they fit in? You probably know that liquids are an in-between state, a bit
like solids in some ways and a bit like gases in others. Now, since liquids easily flow from place to place, you might
think they'd behave like gases when you tired to squeeze them. In fact, liquids are virtually incompressible—much like
solids. This is the reason a belly flop hurts if you mess up your dive into a swimming pool. When your body smacks into
the pool, it's because the water can't squeeze downwards (like a mattress or a trampoline would) or move out of the
way quickly enough. That's also why jumping off bridges into rivers can be very dangerous. Unless you dive correctly,
jumping off a bridge into water is almost like jumping onto concrete.
Robot Power
1.The power for a robotic arm can either be electric, hydraulic, or
pneumatic.
2.Hydraulics is putting liquids under pressure
3.Pneumatics is putting gases under pressure.
4.The power supply acts like the robot's heart and muscles. It
provides the energy for pushing, pulling, turning and lifting.
 DEVELOPMENT OF MODEL

Materials used:
 Cardboard - 90*110 sq. cm
 Hard cardboard for arms (links) - 3*50 sq. cm
 Syringes (10 ml) -8 Pcs.
 Wood sticks for joints and connections - 10 sticks
 Zip Tie - 16
 Vinyl tubes -100 cm
 Paper tape
 Glue gun with refills
 Fevi-quick
 Spray paint (yellow)
 PROCEDURE
• Firstly we take some hard cardboard links and cut it for the arms.
• Then take a cardboard base and the first arm fixed on the base with glue gun.
• After that make holes on the arm for fixing the arms. Then the arms are fixed by hard wooden
sticks for free movement of arms.
• There after take hard cardboard sheet for the small arms of the robot and cut the arms by
measurement and make hole in this arm for both poles to be fixed of the arms in the base
structure. The holes are measured by the scale measurement.
• After that take two syringes and joint the syringes by a pipe and the pipe is fixed by the glue in the
syringe nozzle. And leave it for one hour to permanently fix the glue.
• After that in this joint syringes feel up by the water to follow the Pascal’s law. And it’s essential that
the water in the syringe without any vacuum or without any bubbles.
• Last the water fell up syringes are fixed in the arms to move the arms by the pressure of the water
or hydraulic.
• At last to check the all joints and check the all movements of the robotic hydraulic arm and ready
the robotic hydraulic arm is ready to use. In this way the robotic hydraulic arm is made.
  When pressing on the syringe system, be sure to press
only the input plunger with your thumb and hold the
output syringe with your other hand to prevent the
syringe from separation
 Do not use syringe as a “squirt gun”.
 Wear safety glasses.
 Follow all normal laboratory rules.
SAFETY
 Check each component before you set upyour
PRECAUTIONS hydraulic system. Do not use damaged or worn
components. Turn them in for repair or replacement.
 Lift slowly and check the load often
 Avoid standing in the line of force
 Anticipate possible problems and take steps to avoid
them
 CONCLUSION
Our design uses extremely simple ideas and mechanisms to achieve a complex set of actions and is intended to imitate
the action of the operators. However, these hydraulic arms are expensive for small scale industries. If the major problem
of high initial cost is addressed, a robotic hydraulic arm can be introducing in any industry to bring in automation. The
mechanical links and parts that have been fabricated are extremely simple.
The prepared mechanism has been successfully constrained and executed to carry out the required work of picking up the
weight of the object like table tennis ball and to put them in to the placed at different location.
The Hydraulic Arm Will-
◦ Reach the greatest distance to deliver a given object.
◦ Pick up the heaviest possible object.
◦ Deliver the most objects in a given amount of time.
◦ Function in an assembly line.
◦ Have a system to weight the object it picks up. Battle against another arm of an object.
◦ Rotate as well as reach and grab.
◦ Dig and recover objects.

So, we are confident that the people will understand and join us on the quest to make our planet a pollution free place
to live in.
FUTURE SCOPE
If more time and more efforts would have
been put into the model, more complexities
could have been brought out. Moreover
instead of manual operation of syringes
could have been replaced by pre-defined
computer programs or merely by pressing
the switch operated. Further, more varieties
and more flexibility to add or replace any
part according to requirements can be done
to improve its use and increase field of
usage and to make it more universal or
flexible. As we know that the natural source
of fuel is decreasing day by day, we need to
remove our dependency on these sources
with an alternative resource. We have to
use some of alternative Energies like Solar
Energy, in our vehicle.
 REFERENCE

■ http://sciencekit.com/teacher-geek-hydraulics-pneumatics/c/1091955
■ http://en.wikipedia.org/wiki/Hydraulic_cylinder
■ http://enginemechanics.tpub.com/14105
■ http://www.howstuffworks.com/transport/engines- equipment/hydraulic.htm
■ http://www.slideshare.net/suchitmoon/syringe-actuated-mechanical-
arm?next_slideshow=1
■ http://www.slideshare.net/suchitmoon/syringe-actuated-mechanical-arm- 32128867
■ http://www.slideshare.net/vivek6456/hydraulic-arm-44816055
■ https://www.scribd.com/doc/93124305/Hydraulic-Arm-Project
■ A text book of Fluid Mechanics by R.K. Bansal
 MEMBERS
Samyak Raj Bansal -1819240158
Rishik Agarwal -1819240141
Shreyash Kumar Singh -1819240171
Sahil -1819240152