SCOTT RUSSELL MECHANISM

A DESIGN AND FABRICATION PROJECT REPORT

Submitted by

S.KUPPUSAMY
M.NAVEEN KUMAR
P.NAVEEN KUMAR
E.PRAVIN KUMAR
in partial fulfillment of the requirement
for the award of the degree
of

BACHELOR OF ENGINEERING
in

MECHANICAL ENGINEERING
ANGEL COLLEGE OF ENGINEERING AND TECHNOLOGY
TIRUPUR 641665
APRIL 2015

ANNA UNIVERSITY CHENNAI-600 025

BONAFIDE CERTIFICATE
Certified that this project report titled DESIGN AND FABRICATION OF SCOTT
RUSSELL MECHANISM is the bonafide work of S. KUPPUSAMY (710312114025),
M. NAVEEN KUMAR (710312114030), P. NAVEEN KUMAR (710312114031),
E. PRAVIN KUMAR (710312114037) who carried out the project under my supervision.
Certified further, that to the best of my knowledge the work reported herein does not form
part of any other project report or dissertation on the basis of which a degree or award was
conferred on an earlier occasion on this or any other candidate.

SIGNATURE
N.DHANDAPANI M.E., MISTE., (Ph.D)
HEAD OF THE DEPARTMENT
Professor
Dept. of Mechanical Engg.
Angel College of Engineering and
Technology
Tirupur- 641665

SIGNATURE
Mr. M.VADIVEL M.E., MISTE.,
SUPERVISOR
Asst. Professor
Dept. of Mechanical Engg.
Angel College of Engineering and
Technology
Tirupur- 641665

Submitted for the viva-voce examination held on

Internal Examiner

External Examiner

ii

DECLARATION
We declare that the project report on SCOTT RUSSELL MECHANISM is
the result of original work done by our-self and best of our knowledge, similar work has not
been submitted to ANNA UNIVERSITY CHENNAI for the requirement of Bachelor of
Engineering. This project report is submitted on the partial fulfillment of the requirement of
the award of Degree of Bachelor of Engineering.

Signature
1. S.KUPPUSAMY
2. M.NAVEEN KUMAR

3. P.NAVEEN KUMAR

4.E.PRAVIN KUMAR

Place: Tirupur
Date:

iii

ACKNOWLEDGEMENT

We wish to express my sincere gratitude to our honourable Group President

Er. D. SACHITHANANTHAM, B.E., for providing immense facilities in our institution.
We are very

proudly

rendering

my

thanks

to

our

principal

Dr. A. SUBRAMANIAN Ph.D., MISTE, for the facilities and the encouragement given by
him to the progress and completion of our project.

We proudly render my immense gratitude to the Head of the Department

Mr. N. DHANDAPANI, M.E., MISTE, (Ph.D)., for his effective leadership, continues
encouragement and guidance in the project.

We are highly indebted to provide my heart full thanks to our guide Asst. Professor
Mr. M.VADIVEL, M.E., MISTE, for his valuable ideas, encouragement and supportive
guidance throughout the project.

We regard my sincere and heartfelt thanks to our Staff coordinator of the Design and
Fabrication project Mr. M. VADIVEL, M.E., MISTE, who has been the key spring of
motivation to us throughout the completion of our course and project work.

We wish to extend our sincere thanks to all faculty members and Lab Technicians of
Mechanical Engineering Department for their valuable suggestions, kind co-operation and
constant encouragement for successful completion of this project.

We wish to acknowledge the help received from various Departments and various
individuals during the preparation and editing stages of the manuscript.

iv

ABSTRACT

In robot applications, straight-line pick and place motions are used

for transferring workpieces into and out of an assembly or machine and are most
advantageous in such applications because of the accuracy of positioning the
workpieces at the beginning and end of travel. The straight-line or linear path
motion also exhibits great potential for reducing manufacturing cycle time.
This paper presents the design and analysis of a robotic end-effector that is
Capable of grasping objects of varying sizes and the center point of the endeffector remains as close as possible to the same location, i.e., a straight line,
over the range of pick and place motion. The selected size and shape of the
grasped object are cylinders ranging from 50mm to 300mm in diameter. The
desired clamping force is 645N per jaw when the gripper is at its maximum open
position and a maximum lift mass is 70kg. This project uses a modified Scott
Russell straight-line mechanism for each jaw of the end-effector. The accuracy
of motion trajectory, clamping force and stress of the end-effector are analyzed.

TABLE OF CONTENTS

CHAPTER

3
4
5
6
7

TITLE

PAGE.
NO.

ABSTRACT
LIST OF CONTENTS
LIST OF FIGURE
INTRODUCTION
1.1. I NTRODUCTION

v
vi
vii

1.2. OBJECTIVE OF THE PROJECT

1.3. SCOPE OF THE PROJECT

LITERATURE SURVEY
2.1. STRAIGHT LINE MECHANISM
2.2. EXACT STRAIGHT LINE MOTION
MECHANISMS MADE UP OF TURNING PAIRS
2.2.1. PEAUCELLIER MECHANISM
2.2.2. HARTS MECHANISM
2.3. EXACT STRAIGHT LINE MOTION
MECHANISM MADE UP OF SLIDING
PAIR
2.3.1. SCOTT-RUSSELLS MECHANISM
2.4. APPROXIMATE STRAIGHT LINE
MECHANISMS
2.4.1. WATTS MECHANISM
2.4.2. MODIFIED SCOTT-RUSSELL
MECHANISM
2.4.3. GRASSHOPPER MECHANISM
2.4.4. TCHEBICHEFFS MECHANISM
2.4.5. ROBERTS MECHANISM
OVERRVIEW OF STRAIGHT LINE
MECHANISM
DESIGN METHODOLOGY
APPLICATIONS
RESULT AND ANALYSIS
CONCLUSION
BIBLIOGRAPHY
REFERENCE

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LIST OF FIGURES
FIGURE
NO.
1
2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3
4
5
6
7(a)
7(b)
8

FIGURE NAME

PAGE
NO.

AN EXAMPLE OF PICK AND PLACE ROBOT

STANDARD SCOTT RUSSELL STRAIGHT
LINE MECHANISM
EXACT STRAIGHT LINE MOTION
MECHANISM
PEACULLIER MECHANISM
HARTS MECHANISM
SCOTT-RUSSELLS MECHANISM
WATTS MECHANISM
MODIFIED SCOTT-RUSSELL MECHANISM
GRASSHOPPER MECHANISM
TCHEBICHEFFS MECHANISM
ROBERTS MECHANISM
EXAMPLE OF FOUR-BAR STRAIGHT LINE
LINKAGE
STANDARD SCOTT RUSSELL STAIGHT LINE
MECHANISM WITH EXTENTSION LINK
MODIFIED SCOTT-RUSSELL STRAIGHT
LINE MECHANISM
FREE BODY DIAGRAM OF THE LINKS
GRAPH OF ANGLES Vs BALL SCREW
STROKE INCREMENT
GRAPH OF FORCES Vs BALL SCREW
STROKE INCREMENT
GRIPPER ASSEMBLY OF THREE MODIFIED
SCOTT-RUSSELL STRAIGHT LINE
MECHANISM

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