Project Info

Casting Robot is a four -axis gravity casting robot designed and implemented under a contract with Iran Piston making Co. Tabriz, Iran. The technical Specification of the robot is as following:

Client
This robot is designed and implemented on a contract with Iran Piston making Co. Tabriz, Iran. The robot workspace is more than two meters, and it weighs more than one thousand kilogram. The robot will provide the piston making gravitational die machine with apprpriate amount of aluminum melt.
Technical Specification
Technical Specification
Robot Type Articulated
Actuators DC Motors
Number of axis 4
Payload 5  Kg
Max. Reach 2100 mm
Accuracy 5 mm
Repeatability ±2.5 mm
weight 1000 Kg
Mounting Position Floor
Technologies Involved

The robot is electrically driven with servo DC-motors with gearboxes. The significant weight of the robot arms are counterweighted using a hydro-pneumatic system. The robot electronics consists of power drives signal conditioning boards, safety relays and micro switches, instrumentation boards, and teaching pendant. The robot is digitally controlled using an IPC and accurately instrumented with incremental encoders.

Performance Movies:
· Design Clip (2.7 M)
· Performance Clip 1 (6.6 M)
· Performance Clip 2 (7.8 M)
· Former President Khatami Visit (3.3 M)
Research Publications:
· H.D. Taghirad, A. Ghaffari, S.A.A. Moosavian and M. Khalkhali, Design and implementation of the computer control system of casting Robot D&A 101, in the proceeding of 10 International Conference of Mechanical Engineering, Tehran, Vol 1, pp 467-475, June 2002
· S.A.A. Moosavian, H.D. Taghirad and K. Pornazar, Mechanical Design and implementation of casting Robot D&A 101, in the proceeding of 10 International Conference of Mechanical Engineering, Tehran, Vol 1, pp 576-583, June 2002
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