Sri Venkateshwara College of Engineering

Bengaluru-562157
Department of Mechanical engineering

Title of project

“Design and construction of gantry robot in construction

application”

PRESENTED BY INTERNALGUIDE
1VE16ME059 Dr. shrishail kakkeri
1VE16ME072 Head of Dept. of ME
1VE16ME093 SVCE, Bengaluru
1VE16ME103
 CONTENT
 ABSTRCT
 INRODUCTION
 DESIGN OF GANTRY ROBOT
 LITERATURE SURVEY
 APPLICATION
 ADVANTAGES
 DISADVANTAGES
 FUTURE SCOPE
 REFRENCES
 ABSTRACT

The project presents the design and implementation of a gantry robots,

which performs pick and place mechanism and also detect the obstacles
coming in its path. Pick and manually is the inefficient flaws for the
production line industry.it become less productive, slow and non flexible
processing when it comes manually mechanism. To overcome this problem we
introduce a 3 axis rectangular plate gantry robot. This is a cartesian coordinate
robot, which performance pick and place mechanism and also detects
obstacles which encounters in its path. System comprises of gantry robots with
a conveyor system, and completely control by the programmable logical
controller. this provides the effective design of the system The must important
requirement to take into account where those regarding accuracy, weight of
the object, metal and non metal detection, obstacle detection and over all
cost of the system.
 INTRODUCTION
 The main goal of this project is the implementation of a pick and
place mechanism gantry robot which can detect the obstacle
which comes in their path and stops the complete system in such
situation.
 For accurate analysis the cartesian coordinate robot has been
choosen with 3 degree of freedom working in X,Y and Z axis.
 For instance in this system, we have added an end-effecter in Z
axis which is now a vacuum cup for pick and place mechanism
that can be replaced easily with some different actuator
according to the requirement.
The non-volatile memory stores theprogram of PLC’s used for controlling
machine operation.

 PLC’s are designed for multiple arrangements of digital and analog inputs
and outputs.

The project is described in various sections like controlling and monitoring

through PLC, motion of three axis through DC motors, Ladder logics in Indra
logic software for working with Rexroth PLC, Circuit Designing in a
supportive system (3DOF robot), conveyor system and sensor
arrangements.
DESIGN OF GANTRY ROBOT
 LITERATURE SURVEY
 Range kayfi,dana Ragab and Tarek Autunitic have presented a 3-D
printer case study. The paper gave an analysis on a mechatronics
project for designing a 3D printer prototype. This paper also gave
a review on the success of developing a fully-integrated
engineering system that incorporates a mechanical plant,
electronics, drivers, embedded controllers and software
interface. The paper was aimed to realize a 3D printer prototype
with relatively simple design. The described work was used as an
educational reference for proper design and as a reference for
designing the movement of gantry robot.
 Alkin,C.E.Imrak,H.Kocabs :work on solid modeling and finite element analysis of
gantry crane. While analysis material property of mild steel is used and evaluate
stress and deflection. The analysis study concludes that four node quadratic shell
element is gives accurate result than four node tetrahedral element use in mashing
model in FEM software. This study help while calculating concept model with its
applied load and boundary condition
 J.I.Lergea:studied in modeling and simulation research on metal structure on bridge
crane. The main objective of this study is to reduce structural weight of girder of
gantry crane. For these purpose several model of girder structure have been designed.
The new lighter model is design is analyzed with load condition. The structural
material used in this model is economical too. This designed model have been lose its
weight by holes in structure. That can reduce structural weight without affecting
structural strength of gantry structure
 APPLICATION

 Gantry robots can be used to hold and position a variety of end-

effectors such as those use in: pc board
assembly,dispensing,spraying,material handling,pick and place,water
jet,plate wielding, friction welding,assembly,packaging,tray
loading/unloading,inspection,glass cutting,printing plotting,laser
cutting,etc
 ADVANTAGES
low cost simplest form of Industrial robot.

Very rigid in design compared to all other robots.

larger working area can be covered compared all other robot.

simple to operate and maintain.

DISVANTAGES
 Space consuming robot.

 for xyz axis we have to use one more structure to support, bit
cost of one more motor and electricals will be more.

 compared to simple supported Cartesian robot power

consumption is more.
 FUTURE SCOPE
 We can convert gantry Robert in 3D printer with minor adjustment.
 Welding and soldering gun can be attached as future application.
 Can be converted into CNC machine adding motor head with endmill.
 Laser engraver can be added as future scope.
REFRENCES

[1] Design and implementation of a Cartesian robot, Published in

Advanced manufacturing systems and technology CISM courses and
lecture number 437, Springer Wein New York 2002.


[2] Ali Ahmad El Souki, 2D Pick and Place robot, The Lebanese
University Thesis, June 17, 2013.
[3] Pablo Sánchez-Sánchez; Fernando Reyes-Cortés, Cartesian Control
for Robot Manipulators, Manipulators Trends and Development,
Agustin Jimenez and Basil M Al Hadithi (Ed.), ISBN: 978-953-307-073-5


[4] S. Krishankant, Computer Based instrumentation Control, New

Delhi: PHI Learning Pvt. Ltd, 2009.

THANK YOU