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LABORATORY PRACTICE REPORT

DEGREE: MECHATRONIC SUBJECT: INDUSTRIAL ROBOTIC

PRACITCA NRO: 1 PRACTICAL TITLTE: ROBOTIC ARM PARTS
OBJECTIVE(S) ACHIEVED:

• Identify and understand the components and systems that make up a robotic arm.
• Develop practical skills in the construction and programming of a simple robotic arm.
• Learn about the primary control of a robotic arm.
• Design and program different tasks and solve problems that may arise during the process.

ACTIVITIES DEVELOPED

1. Read the slides of the constituent parts of a robotic arm.

2. Visit the industrial automation and robotics laboratory where the robotic arm is located.

3. Check the station where’s the robotic arm.

4. Identify sensors, actuators and controllers that make the robotic arm work.

5. Turn on the compressor and the controllers of the robotic arm.

6. Select the manual mode in the controller CR750-D.

7. Manipulate the robotic arm with the controller.

8. Move the robotic arm of its zero piece and put it in a position where we can already work.
9. Save all points during the lab preparation.

10. Put the robotic arm on zero piece when the practice is over.

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THEORICAL FOUNDATION

What is a robotic arm?

Robotic arms are a programable dispositive and we can define it as a set of electromechanically elements that
promote the movement of a terminal element, also we can say that the robotic arms are machines that are
programmed to make a specific task or job quickly, efficiently and accurately. Robotic arms are very used in the
industrial production, manufacturing, machining and assembly sectors [1].

The physical constitution of most of these machines has some similarity with the anatomy of the upper limbs of the
human body.

Figure 1. Similarity of robotic arm to upper extremities of the human body [1].

What are the constituent parts of the Mitsubishi robotic arm?

1. Controller
The controller would be the brain of the robot, is the part that regulates all functions, movements,
calculations and information processing, through a microcomputer.
2. Actuators
The actuators are the hearth of the industrial robots; the motors are the responsible for proving
power for the movements of the device.
3. Manipulator
It’s the most important part of the robot, it’s a mechanical component because it is the structural
part itself, composed of solid element or links joined by joints that allow movement. These
subparts, also analogically, are called body, arm, wrist and final actuator.
4. Joints
It lets movement at the industrial robot so we can find linear and angular movements.
5. Wrist
It has a different movement looks like: elevation, deviation and turn.
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6. Gripper
This part is linked to the wrist and its considerate the final part we can find it in two groups:
tweezers and tools.
7. Sensors
This part is essential because the industrial robot has the ability respond to unexcepted changes
in working conditions [2].

Gripper

Wrist
Fore Arm

Roll

Upper
Arm Waist

Shoulder

Base

Figure 2. Mitsubishi Electric Robotic Arm RV-2F-D1-S16 which is in the industrial automation and robotics laboratory.

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What are the constituent parts of the Teaching box R45TB?

1. Switch on/off.
2. Jog-Shuttle wheel for menu guide.
3. Emergency button.
4. USB connection.
5. Operation keys.
6. Menu keys.
7. Colour display.
8. Robot movement keys.
9. Hand stand.
10. Authorization push button [3].

Figure 3. Teaching box R45TB which is in the industrial automation and robotics laboratory.

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EXPERIMENTAL PROCEDURE
Calculate the number of degrees of freedom of the Mitsubishi robotic arm.

•Degrees of freedom are the defined modes in which a mechanical device or system can move.
•The number of degrees of freedom of the robot is given by the sum of the degrees of freedom of
its component joints.
• The degrees of freedom are the number of independent parameters that determine the position
of the terminal element of the robotic arm; the number of degrees of freedom usually coincides
with the number of links in the kinematic chain [4].
The KUTZBACH-GRUBLER criterion is the most used for the calculation of the degrees of freedom in
mechanism, its formula is [5]:
Grubel’s formula:

Where:
λ = 3(planar mechanisms -2D)
6(spatial mechanisms -3D)
N= Num. of links
J= total num. of joints connecting only two lnks
Fi= DOF at ith joint
To calculate the degrees of freedom of any mechanism, the first step is to identify the number of links,
the number of joints and the degree of freedom of each movement in the joints.

Figure 4. Number of links, joints and degrees of freedom of the Mitsubishi robot arm [5].

applying equation;

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λ=3

N=6 𝑫𝑶𝑭 =3(6 – 5 – 1) + 5

J=5 𝑫𝑶𝑭 = 𝟓
Fi=5

“THE DEGREES OF FREEDOM THAT THE MITSUBISHI ROBOTIC ARM HAS ARE= 5”

Relate each of the parts of the Mitsubishi robotic arm to those of the human body.

Elbow

Arm

Wrist

Hand

Fingers

Forearm

Shoulder

Body

Figure 5. Comparison of the limbs of the Mitsubishi robotic arm with the limbs of the human body.

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Identify the sensors, actuators, and controllers of the Mitsubishi robotic arm.

Drivers Sensors Actuators

• Mitsubishi CR750-D • Magnetic Network • • Two-finger
Controller • Magnetic security opening pneumatic
• Pressure sensor clamp (MHKL2-16D)
• Encoders (Location) controlled by 5/2
monostable
solenoid valve
• • Electric
screwdriver
reference HITACHI
(DB 3DL), 3.6V and
180 Rpm.
• • MITSUBISHI
MELFARV-2f-d
industrial robot 6
axes, type: vertical
articulated arm.
Maximum speed
4.955 m/s, 13000
storable positions,
0.02mm precision,
2kg lifting force,
19kg arm weight.

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RESULT(S) OBTAINED:

Figure 6. Programming console through which we can enter commands or define point to which the robot should move.

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Figure 7. Actuators: Pneumatic Clamp, 6-Axis Robot and Electric Screwdriver. Sensors: Magnetic Reed & Magnetic Safety.

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Figure 8. Control CR750-D of MITSUBISHI. Language: MELFA-BAS) C V. Maximum 256 inputs and 256 outputs. Interfaces:
RS-422, Ethernet and mini-USB with which we can perform a programming of the movements of the
Robot.
VIDEO

Figure 9. QR code of the practice video.

CONCLUSIONS:
• After learning about the Mitsubishi Electric RV-2F-D1-S16 robotic arm, it was possible to have a clearer idea
of the operation of this type of device as well as the importance of defining the work area, degrees of
freedom, precision of movements, speed, load capacity, programmability and types of actuators
for future work.
• With the execution of this practice, it was possibly understanding the operation of the Mitsubishi robotic arm
where with the manipulation of a remote control the taking of coordinates was carried out, thus concluding
with the identification that make up the parts of a robotic arm.
• Thanks to the visit made to the laboratory it was possible to identify the sensors, actuators and controllers
of the robotic arm, in addition it can be mentioned that the components of the arm fulfill a specific role which
makes it similar to a human arm.

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RECOMENDATION:
• Investigate the main parameters for the construction and programming of a robotic arm.
• It is recommended to respect the speed capabilities of the robotic arm and not exceed the maximum weight
it can handle as this may damage the equipment or may cause accidents.
• It’s advisable to save the points that are necessary while performing the movement of the robotic arm
because thus we will avoid that this device makes a lot of strength and reaches a singularity.

BIBLIOGRAPHY:

[1] G. M. Martínez A, S. A. Jáquez O, J. Rivera M and R. Sandoval R, "REVISTA DE INGENIERÍA

ELÉCTRICA, ELECTRÓNICA Y COMPUTACIÓN," RIEE&C, REVISTA DE INGENIERÍA
ELÉCTRICA, ELECTRÓNICA Y COMPUTACIÓN, vol. IV, no. 1, pp. 9-12, 2008.

[2] MITSUBISHI ELECTRIC CORPORATION, "Standard Specifications Manual," Mitsubishi Industrial

Robot, Ratingen, 2012.

[3] Mitsubishi Industrial Robot, «Mitsubishi Industrial Robot,» Mitsubishi Industrial Robot, Ratingen,
2012.

[4] V. G. Coco, «PROGRAMA DE CONTROL DEL BRAZO ROBOT MITSUBISHI RV-E2 Y SU

APLICACIÓN AL PROBLEMA DE LAS TORRES DE HANÓI,» 2018.

[5] C. J. C. Sanchez, «DISEÑO, DESARROLLO E IMPLEMENTACIÓN DE UN SISTEMA ADAPTATIVO

NEURP-DIFUSO APLICADO AL BRAZO ROBOT MITSUBISHI RV-2AJ CON VISIÓN ARTIFICIAL,
UTILIZANDO UN CONTROLADOR BASADO EN PROCESADOR ARM,» Quito, 2017.

Name and surname of the members:

1. Villa Axel- group leader

2. Fonte Jhon
3. Paguay Jefferson
4. Pozo Marlon

Group leader's signature: _________________________

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