SlideShare uma empresa Scribd logo
1 de 13
Baixar para ler offline
A
PROJECTBASED LAB REPORT
On
PICK AND PLACE ROBOT
Submitted in partial fulfilment of the
Requirements for the award of the Degree of
Bachelor of Technology
In
Electronic and Communications Engineering
BY
B.HARIDHAR(14004561 )
G.Akhil(14004337)
DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
K L University
Green Fields, Vaddeswaram, Guntur District-522 502
2016-2017
K L University
DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
(DST-FIST Sponsored Department)
This is to certify that this project based lab report entitled “PICK AND PLACE
ROBOT” is a bonafide work done by B.HARIDHAR (14004561)
G.AKhil(14004337)in partial fulfillment of the requirement for the award of degree
in BACHELOR OF TECHNOLOGY in Electronics and Communication
Engineering during the academic year 2015-2016.
Faculty In Charge Head of the Department
CERTIFICATE
K L University
DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
(DST-FIST Sponsored Department)
We hereby declare that this project based lab report entitled “PICK AND
PLACE ROBOT” has been prepared by us in partial fulfillment of the
requirement for the award of degree“ BACHELOROF TECHNOLOGY in
ELECTRONICS AND COMMUNICATION ENGINEERING” during the
academic year 2015-2016.
I also declare that this project based lab report is of our own effort and it has
not been submitted to any other university for the award of any degree.
Date:
B.HARIDHAR(14004561)
G.Akhil(14004337)
DECLARATION
Abstract
Mankind has always strived to give life like qualities to its artefacts in an
attempt to find substitutes for himself to carry out his orders and also to work
in a hostile environment. The popular concept of a robot is of a machine that
looks and works like a human being.
The industry is moving from current state of automation to Robotization, to
increase productivity and to deliver uniform quality. The industrial robots of
today may not look the least bit like a human being although all the research is
directed to provide more and more anthropomorphic and humanlike features
and super-human capabilities in these.
One type of robot commonly used in industry is a robotic manipulator or
simply a robotic arm. It is an open or closed kinematic chain of rigid links
interconnected by movable joints. In some configurations, links can be
considered to correspond to human anatomy as waist, upper arm and forearm
with joint at shoulder and elbow. At end of arm a wrist joint connects an end
effectors which may be a tool and its fixture or a gripper or any other device
to work.
Here how a pick and place robot can be designed for a workstation where
loading and packing of lead batteries is been presented. All the various
problems and obstructions for the loading process has been deeply analyzed
and been taken into consideration while designing the pick and place robot.
Introduction
Robotics is the branch of engineering science & Technology related to robots,
and their design, manufacture, application, and structural disposition. Robotics
is related to electronics, mechanics, and software. Robotics research today is
focused on developing systems that exhibit modularity, flexibility,
redundancy, fault-tolerance, a general and extensible software environment
and seamless connectivity to other machines, some researchers focus on
completely automating a manufacturing process or a task, by providing sensor
based intelligence to the robot arm, while others try to solidify the analytical
foundations on which many of the basic concepts in robotics are built.
In this highly developing society time and man power are critical constrains
for completion of task in large scales. The automation is playing important
role to save human efforts in most of the regular and frequently carried works.
One of the major and most commonly performed works is picking and placing
of jobs from source to destination.
Present day industry is increasingly turning towards computer-based
automation mainly due to the need for increased productivity and delivery of
end products with uniform quality. The inflexibility and generally high cost of
hard-automation systems, which have been used for automated manufacturing
tasks in the past, have led to a broad based interest in the use of robots capable
of performing a variety of manufacturing functions in a flexible environment
and at lower costs. The use of Industrial Robots characterizes some of
contemporary trends in automation of the manufacturing process. However,
present day industrial robots also exhibit a monolithic mechanical structure
and closed-system software architecture. They are concentrated on simple
repetitive tasks, which tend not to require high precision. The pick and place
robot is a microcontroller based mechatronic system that detects the object,
picks that object from source location and places at desired location. For
detection of object, infrared sensors are used which detect presence of object
as the transmitter to receiver path for infrared sensor is interrupted by placed
object.
Classification Of Robot
Industrial robots are found in a variety of locations including the automobile
and manufacturing industries. Robots cut and shape fabricated parts, assemble
machinery and inspect manufactured parts. Some types of jobs robots do: load
bricks, die cast, drill, fasten, forge, make glass, grind, heat treat, load/unload
machines, machine parts, handle parts, measure, monitor radiation, run nuts,
sort parts, clean parts, profile objects, perform quality control, rivet, sand
blast, change tools and weld. Outside the manufacturing world robots perform
other important jobs. They can be found in hazardous duty service,
CAD/CAM design and prototyping, maintenance jobs, fighting fires, medical
applications, military warfare and on the farm.
TYPES OF ROBOTS AS PER APPLICATIONS:
Nowadays, robots do a lot of different tasks in many fields. And this number
of jobs entrusted to robots is growing steadily. That's why one of the best
ways how to divide robots into types is a division by their application.
INDUSTRIAL ROBOTS: Robots today are being utilized in a wide variety of
industrial applications. Any job that involves repetitiveness, accuracy,
endurance, speed, and reliability can be done much better by robots, which is
why many industrial jobs that used to be done by humans are increasingly
being done by robots.
MOBILE ROBOTS: Also known as Automated Guided Vehicles, or AGVs, these
are used for transporting material over large sized places like hospitals,
container ports, and warehouses, using wires or markers placed in the floor, or
lasers, or vision, to sense the environment they operate in. An advanced form
of the AGV is the SGV, or the Self Guided Vehicle, like PatrolBot Gofer,
Tug, and Specie-Minder, which can be taught to autonomously navigate
within a space.
AGRICULTURE ROBOTS: Although the idea of robots planting seeds, ploughing
fields, and gathering the harvest may seem straight out of a futuristic science
fiction book, nevertheless there are several robots in the experimental stages
of being used for agricultural purposes, such as robots that can pick apples.
TELEROBOTS: These robots are used in places that are hazardous to humans,
or are inaccessible or far away. A human operator located at a distance from a
telerobot controls its action, which was accomplished with the arm of the
space shuttle. Telerobots are also useful in nuclear power plants where they,
instead of humans, can handle hazardous material or undertake operations
potentially harmful for humans.
SERVICE ROBOTS: The Japanese are in the forefront in these types of robots.
Essentially, this category comprises of any robot that is used outside an
industrial facility, although they can be sub-divided into two main types of
robots: one, robots used for professional jobs, and the second, robots used for
personal use. Amongst the former type are the above mentioned robots used
for military use, and then there are robots that are used for underwater jobs, or
robots used for cleaning hazardous waste, and the like.
Parts of a Pick N Place Robot
Let us see what the pick and place robot actually consists of
A Rover: It is the main body of the robot consisting of several rigid bodies
like a cylinder or a sphere, joints and links. It is also known as a manipulator.
End Effector: It is the body connected to the last joint of the rover which is
used for the purpose of gripping or handling objects. It can be an analogy to
the arm of a human being.
Actuators: They are the drivers of the robot. It actually actuates the robot. It
can be any motor like servo motor, stepper motor or pneumatic or hydraulic
cylinders.
Sensors: They are used to sense the internal as well as the external state to
make sure the robot functions smoothly as a whole. Sensors involve touch
sensors, IR sensor etc.
Controller: It is used to control the actuators based on the sensor feedback
and thus control the motion of each and every joint and eventually the
movement of the end effector.
Working of a Basic Pick N Place Robot
The basic function of a pick and place robot is done by its joints. Joints are
analogous to human joints and are used to join the two consecutive rigid
bodies in the robot. They can be rotary joint or linear joint. To add a joint to
any link of a robot, we need to know about the degrees of freedom and
degrees of movement for that body part. Degrees of freedom implement the
linear and rotational movement of the body and Degrees of movement imply
the number of axis the body can move.
A simple pick and place robot consists of two rigid bodies on a moving base,
connected together with rotary joint. A rotary joint is a one which provides
rotation in 360 degrees around any one of the axes.
 The bottom or the base is attached with wheels which provide linear
movement.
 The 1st rigid body is fixed and supports the second rigid body to
which the end effector is provided.
 The 2nd rigid body is provided with movement in all 3 axes and has 3
degrees of freedom. It is connected to the 1st body with a rotational
joint.
 The end effector should accommodate all 6 degrees of freedom, in
order to reach all sides of the component, to take up position to any
height.
On a whole, the basic pick and place robot works as follows:
 The wheels underneath the base help to move the robot to the desired
location.
 The rigid body supporting the end effector bends or straightens up to
reach the position where the object is placed.
 The end effector picks up the object with a strong grip and places it at
the desired position.
Now that we have got a brief idea of the pick and place robot, the basic
question is how it is actually controlled. A simple pick and place robot can be
controlled by controlling the movement of its end effector. The motion can be
using hydraulic motion, i.e. using hydraulic fluid under pressure to the drive
the robot, or using pneumatic motion, i.e. using pressurized air to cause
mechanical motion. However the most effective way is using motors to
provide the required motion. The motors have to be controlled in order to
provide required motion to the robot and the end effector.
Working Example of Controlling a Pick N Place Robot
How about controlling the robot with a just a few buttons on the keypad? Yes,
it is possible! Just pressing the required button, we can transmit command to
the robot to make it move in any direction to achieve our task. Moreover this
can be achieved using simple wireless communication.
Let’s see how this actually works:
The transmitter part consists of the keypad interfaced to the microcontroller.
Any button number in decimal format is converted to 4 digit binary by the
microcontroller and the parallel output at one of its port is applied to the
encoder. The encoder converts this parallel data to serial data and this is fed to
the transmitter, fitted with an antenna to transmit the serial data.
The receiver side consists of a decoder interfaced to the microcontroller. The
decoder converts the received command in serial format to the parallel form
and gives this data to the microcontroller. Based on this command the
microcontroller sends the appropriate input signals to the motor drivers to
drive the respective motors.
The system consists of two motors for providing motion to the whole robot
and two other motors to provide the arm motion. The end effector or the
gripper needs to be controlled to apply proper pressure on the object to handle
it effetely, to give it a soft grip. This is ensured by controlling the arm motors
through proper command. The output from the arm motors is connected to a
10Ohms/2W resistor and at the time of motor over load or locked condition, a
high voltage is developed across the resistor, which causes a logic high level
at the output of the opt isolator and the interrupt pin of the microcontroller
connected to the opt isolator output through a pnp transistor gets logic low
signal, which halts all other operations of the gripper.
Practical Applications of Pick and Place Robot
Defence Applications: It can be used for surveillance and also to pick up
harmful objects like bombs and diffuse them safely.
Industrial Applications: These robots are used in manufacturing, to pick up
the required parts and place it in correct position to complete the machinery
fixture. It can be also used to place objects on the conveyer belt as well as
pick up defective products from the conveyer belt.
Medical Applications: These robots can be used in various surgical
operations like in joint replacement operations, orthopedic and internal
surgery operations. It performs the operations with more precision and
accuracy.
Advantages
 Reducing man power
 Fast production
 Time management
 Reducing damages for objects
 They are accurate.
 They increase the safety of the working environment and actually
never get tired
Pick and place

Mais conteúdo relacionado

Mais procurados (20)

Industrial robots
Industrial robotsIndustrial robots
Industrial robots
 
pick-and-place-robot
pick-and-place-robotpick-and-place-robot
pick-and-place-robot
 
robotic arm
robotic arm robotic arm
robotic arm
 
Robotix & Industrial Robots
Robotix & Industrial RobotsRobotix & Industrial Robots
Robotix & Industrial Robots
 
Robotic arm
Robotic armRobotic arm
Robotic arm
 
Dek3223 chapter 3 industrial robotic
Dek3223 chapter 3 industrial roboticDek3223 chapter 3 industrial robotic
Dek3223 chapter 3 industrial robotic
 
Robot Configuration - 1
Robot Configuration - 1Robot Configuration - 1
Robot Configuration - 1
 
Robot classification working and spesific uitilities of robot
Robot classification working and spesific uitilities of robotRobot classification working and spesific uitilities of robot
Robot classification working and spesific uitilities of robot
 
PICK & PLACE ROBOT
PICK & PLACE ROBOTPICK & PLACE ROBOT
PICK & PLACE ROBOT
 
Application of robots
Application of robotsApplication of robots
Application of robots
 
Robots
Robots Robots
Robots
 
Industrial robots
Industrial robotsIndustrial robots
Industrial robots
 
Industrial Robots
Industrial RobotsIndustrial Robots
Industrial Robots
 
Application of industrial robotics
Application of industrial roboticsApplication of industrial robotics
Application of industrial robotics
 
ROBOTICS-Me8099 -unit-1.ppT
ROBOTICS-Me8099 -unit-1.ppTROBOTICS-Me8099 -unit-1.ppT
ROBOTICS-Me8099 -unit-1.ppT
 
Robotics and Automation Introduction
Robotics and Automation IntroductionRobotics and Automation Introduction
Robotics and Automation Introduction
 
Wireless Pick & Place Robot
Wireless Pick & Place RobotWireless Pick & Place Robot
Wireless Pick & Place Robot
 
Robot Programming
Robot ProgrammingRobot Programming
Robot Programming
 
Industrial robotics
Industrial roboticsIndustrial robotics
Industrial robotics
 
The robotic arm
The robotic arm The robotic arm
The robotic arm
 

Semelhante a Pick and place

IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...
IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...
IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...IRJET Journal
 
Computer aided manufacturing robotic systems
Computer aided manufacturing robotic systemsComputer aided manufacturing robotic systems
Computer aided manufacturing robotic systemsPrasanth Kumar RAGUPATHY
 
Review on Development of Industrial Robotic Arm
Review on Development of Industrial Robotic ArmReview on Development of Industrial Robotic Arm
Review on Development of Industrial Robotic ArmIRJET Journal
 
IRJET- Can Robots are Changing the World: A Review
IRJET- Can Robots are Changing the World: A ReviewIRJET- Can Robots are Changing the World: A Review
IRJET- Can Robots are Changing the World: A ReviewIRJET Journal
 
Development of Pick and Place Robot for Industrial Applications
Development of Pick and Place Robot for Industrial ApplicationsDevelopment of Pick and Place Robot for Industrial Applications
Development of Pick and Place Robot for Industrial ApplicationsIRJET Journal
 
Ch-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxCh-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxPuneetMathur39
 
Space robotics
Space roboticsSpace robotics
Space roboticsMU
 
Ch-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxCh-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxDrGaurangJoshi2
 
Summer Training Program Report On Embedded system and robot
Summer Training Program Report On Embedded system and robot Summer Training Program Report On Embedded system and robot
Summer Training Program Report On Embedded system and robot Arcanjo Salazaku
 
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...IRJET Journal
 
International Journal of Computational Engineering Research (IJCER)
International Journal of Computational Engineering Research (IJCER) International Journal of Computational Engineering Research (IJCER)
International Journal of Computational Engineering Research (IJCER) ijceronline
 
Fundamental of robotic manipulator
Fundamental of robotic manipulatorFundamental of robotic manipulator
Fundamental of robotic manipulatorsnkalepvpit
 
Designing a suitable robotic arm for loading and unloading of material on lat...
Designing a suitable robotic arm for loading and unloading of material on lat...Designing a suitable robotic arm for loading and unloading of material on lat...
Designing a suitable robotic arm for loading and unloading of material on lat...IRJET Journal
 
Robots in automobile industry
Robots in automobile industryRobots in automobile industry
Robots in automobile industryNiraj Rajan
 
robotsinautomobileindustry-160311092216.pdf
robotsinautomobileindustry-160311092216.pdfrobotsinautomobileindustry-160311092216.pdf
robotsinautomobileindustry-160311092216.pdfSanjeevkumar217359
 
Robots in automobile industry
Robots in automobile industryRobots in automobile industry
Robots in automobile industryNiraj Rajan
 

Semelhante a Pick and place (20)

Robotics.pptx
Robotics.pptxRobotics.pptx
Robotics.pptx
 
IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...
IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...
IRJET- The Importance of Robotic Technology in Engineering Industries, Medica...
 
Computer aided manufacturing robotic systems
Computer aided manufacturing robotic systemsComputer aided manufacturing robotic systems
Computer aided manufacturing robotic systems
 
Review on Development of Industrial Robotic Arm
Review on Development of Industrial Robotic ArmReview on Development of Industrial Robotic Arm
Review on Development of Industrial Robotic Arm
 
Robotics
RoboticsRobotics
Robotics
 
IRJET- Can Robots are Changing the World: A Review
IRJET- Can Robots are Changing the World: A ReviewIRJET- Can Robots are Changing the World: A Review
IRJET- Can Robots are Changing the World: A Review
 
Development of Pick and Place Robot for Industrial Applications
Development of Pick and Place Robot for Industrial ApplicationsDevelopment of Pick and Place Robot for Industrial Applications
Development of Pick and Place Robot for Industrial Applications
 
Ch-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxCh-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptx
 
Space robotics
Space roboticsSpace robotics
Space robotics
 
Ch-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptxCh-5.0_Robot Technology - CIM.pptx
Ch-5.0_Robot Technology - CIM.pptx
 
Summer Training Program Report On Embedded system and robot
Summer Training Program Report On Embedded system and robot Summer Training Program Report On Embedded system and robot
Summer Training Program Report On Embedded system and robot
 
Robotics.pptx
Robotics.pptxRobotics.pptx
Robotics.pptx
 
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...
MODEL PREDICTIVE CONTROL BASED JUMPINGOF ROBOTIC LEG ON A PARTICULAR HEIGHT U...
 
robotics.pptx
robotics.pptxrobotics.pptx
robotics.pptx
 
International Journal of Computational Engineering Research (IJCER)
International Journal of Computational Engineering Research (IJCER) International Journal of Computational Engineering Research (IJCER)
International Journal of Computational Engineering Research (IJCER)
 
Fundamental of robotic manipulator
Fundamental of robotic manipulatorFundamental of robotic manipulator
Fundamental of robotic manipulator
 
Designing a suitable robotic arm for loading and unloading of material on lat...
Designing a suitable robotic arm for loading and unloading of material on lat...Designing a suitable robotic arm for loading and unloading of material on lat...
Designing a suitable robotic arm for loading and unloading of material on lat...
 
Robots in automobile industry
Robots in automobile industryRobots in automobile industry
Robots in automobile industry
 
robotsinautomobileindustry-160311092216.pdf
robotsinautomobileindustry-160311092216.pdfrobotsinautomobileindustry-160311092216.pdf
robotsinautomobileindustry-160311092216.pdf
 
Robots in automobile industry
Robots in automobile industryRobots in automobile industry
Robots in automobile industry
 

Último

IT3401-WEB ESSENTIALS PRESENTATIONS.pptx
IT3401-WEB ESSENTIALS PRESENTATIONS.pptxIT3401-WEB ESSENTIALS PRESENTATIONS.pptx
IT3401-WEB ESSENTIALS PRESENTATIONS.pptxSAJITHABANUS
 
Basic Principle of Electrochemical Sensor
Basic Principle of  Electrochemical SensorBasic Principle of  Electrochemical Sensor
Basic Principle of Electrochemical SensorTanvir Moin
 
Power System electrical and electronics .pptx
Power System electrical and electronics .pptxPower System electrical and electronics .pptx
Power System electrical and electronics .pptxMUKULKUMAR210
 
A Seminar on Electric Vehicle Software Simulation
A Seminar on Electric Vehicle Software SimulationA Seminar on Electric Vehicle Software Simulation
A Seminar on Electric Vehicle Software SimulationMohsinKhanA
 
Modelling Guide for Timber Structures - FPInnovations
Modelling Guide for Timber Structures - FPInnovationsModelling Guide for Timber Structures - FPInnovations
Modelling Guide for Timber Structures - FPInnovationsYusuf Yıldız
 
cloud computing notes for anna university syllabus
cloud computing notes for anna university syllabuscloud computing notes for anna university syllabus
cloud computing notes for anna university syllabusViolet Violet
 
Test of Significance of Large Samples for Mean = µ.pptx
Test of Significance of Large Samples for Mean = µ.pptxTest of Significance of Large Samples for Mean = µ.pptx
Test of Significance of Large Samples for Mean = µ.pptxHome
 
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdf
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdfsdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdf
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdfJulia Kaye
 
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptx
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptxVertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptx
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptxLMW Machine Tool Division
 
Multicomponent Spiral Wound Membrane Separation Model.pdf
Multicomponent Spiral Wound Membrane Separation Model.pdfMulticomponent Spiral Wound Membrane Separation Model.pdf
Multicomponent Spiral Wound Membrane Separation Model.pdfGiovanaGhasary1
 
ChatGPT-and-Generative-AI-Landscape Working of generative ai search
ChatGPT-and-Generative-AI-Landscape Working of generative ai searchChatGPT-and-Generative-AI-Landscape Working of generative ai search
ChatGPT-and-Generative-AI-Landscape Working of generative ai searchrohitcse52
 
Technology Features of Apollo HDD Machine, Its Technical Specification with C...
Technology Features of Apollo HDD Machine, Its Technical Specification with C...Technology Features of Apollo HDD Machine, Its Technical Specification with C...
Technology Features of Apollo HDD Machine, Its Technical Specification with C...Apollo Techno Industries Pvt Ltd
 
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docx
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docxSUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docx
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docxNaveenVerma126
 
EPE3163_Hydro power stations_Unit2_Lect2.pptx
EPE3163_Hydro power stations_Unit2_Lect2.pptxEPE3163_Hydro power stations_Unit2_Lect2.pptx
EPE3163_Hydro power stations_Unit2_Lect2.pptxJoseeMusabyimana
 
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdf
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdfRenewable Energy & Entrepreneurship Workshop_21Feb2024.pdf
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdfodunowoeminence2019
 
Engineering Mechanics Chapter 5 Equilibrium of a Rigid Body
Engineering Mechanics  Chapter 5  Equilibrium of a Rigid BodyEngineering Mechanics  Chapter 5  Equilibrium of a Rigid Body
Engineering Mechanics Chapter 5 Equilibrium of a Rigid BodyAhmadHajasad2
 
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratory
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratoryدليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratory
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide LaboratoryBahzad5
 
The relationship between iot and communication technology
The relationship between iot and communication technologyThe relationship between iot and communication technology
The relationship between iot and communication technologyabdulkadirmukarram03
 
Mohs Scale of Hardness, Hardness Scale.pptx
Mohs Scale of Hardness, Hardness Scale.pptxMohs Scale of Hardness, Hardness Scale.pptx
Mohs Scale of Hardness, Hardness Scale.pptxKISHAN KUMAR
 

Último (20)

IT3401-WEB ESSENTIALS PRESENTATIONS.pptx
IT3401-WEB ESSENTIALS PRESENTATIONS.pptxIT3401-WEB ESSENTIALS PRESENTATIONS.pptx
IT3401-WEB ESSENTIALS PRESENTATIONS.pptx
 
Basic Principle of Electrochemical Sensor
Basic Principle of  Electrochemical SensorBasic Principle of  Electrochemical Sensor
Basic Principle of Electrochemical Sensor
 
Power System electrical and electronics .pptx
Power System electrical and electronics .pptxPower System electrical and electronics .pptx
Power System electrical and electronics .pptx
 
Lecture 2 .pdf
Lecture 2                           .pdfLecture 2                           .pdf
Lecture 2 .pdf
 
A Seminar on Electric Vehicle Software Simulation
A Seminar on Electric Vehicle Software SimulationA Seminar on Electric Vehicle Software Simulation
A Seminar on Electric Vehicle Software Simulation
 
Modelling Guide for Timber Structures - FPInnovations
Modelling Guide for Timber Structures - FPInnovationsModelling Guide for Timber Structures - FPInnovations
Modelling Guide for Timber Structures - FPInnovations
 
cloud computing notes for anna university syllabus
cloud computing notes for anna university syllabuscloud computing notes for anna university syllabus
cloud computing notes for anna university syllabus
 
Test of Significance of Large Samples for Mean = µ.pptx
Test of Significance of Large Samples for Mean = µ.pptxTest of Significance of Large Samples for Mean = µ.pptx
Test of Significance of Large Samples for Mean = µ.pptx
 
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdf
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdfsdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdf
sdfsadopkjpiosufoiasdoifjasldkjfl a asldkjflaskdjflkjsdsdf
 
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptx
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptxVertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptx
Vertical- Machining - Center - VMC -LMW-Machine-Tool-Division.pptx
 
Multicomponent Spiral Wound Membrane Separation Model.pdf
Multicomponent Spiral Wound Membrane Separation Model.pdfMulticomponent Spiral Wound Membrane Separation Model.pdf
Multicomponent Spiral Wound Membrane Separation Model.pdf
 
ChatGPT-and-Generative-AI-Landscape Working of generative ai search
ChatGPT-and-Generative-AI-Landscape Working of generative ai searchChatGPT-and-Generative-AI-Landscape Working of generative ai search
ChatGPT-and-Generative-AI-Landscape Working of generative ai search
 
Technology Features of Apollo HDD Machine, Its Technical Specification with C...
Technology Features of Apollo HDD Machine, Its Technical Specification with C...Technology Features of Apollo HDD Machine, Its Technical Specification with C...
Technology Features of Apollo HDD Machine, Its Technical Specification with C...
 
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docx
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docxSUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docx
SUMMER TRAINING REPORT ON BUILDING CONSTRUCTION.docx
 
EPE3163_Hydro power stations_Unit2_Lect2.pptx
EPE3163_Hydro power stations_Unit2_Lect2.pptxEPE3163_Hydro power stations_Unit2_Lect2.pptx
EPE3163_Hydro power stations_Unit2_Lect2.pptx
 
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdf
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdfRenewable Energy & Entrepreneurship Workshop_21Feb2024.pdf
Renewable Energy & Entrepreneurship Workshop_21Feb2024.pdf
 
Engineering Mechanics Chapter 5 Equilibrium of a Rigid Body
Engineering Mechanics  Chapter 5  Equilibrium of a Rigid BodyEngineering Mechanics  Chapter 5  Equilibrium of a Rigid Body
Engineering Mechanics Chapter 5 Equilibrium of a Rigid Body
 
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratory
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratoryدليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratory
دليل تجارب الاسفلت المختبرية - Asphalt Experiments Guide Laboratory
 
The relationship between iot and communication technology
The relationship between iot and communication technologyThe relationship between iot and communication technology
The relationship between iot and communication technology
 
Mohs Scale of Hardness, Hardness Scale.pptx
Mohs Scale of Hardness, Hardness Scale.pptxMohs Scale of Hardness, Hardness Scale.pptx
Mohs Scale of Hardness, Hardness Scale.pptx
 

Pick and place

  • 1. A PROJECTBASED LAB REPORT On PICK AND PLACE ROBOT Submitted in partial fulfilment of the Requirements for the award of the Degree of Bachelor of Technology In Electronic and Communications Engineering BY B.HARIDHAR(14004561 ) G.Akhil(14004337) DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING K L University Green Fields, Vaddeswaram, Guntur District-522 502 2016-2017
  • 2. K L University DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING (DST-FIST Sponsored Department) This is to certify that this project based lab report entitled “PICK AND PLACE ROBOT” is a bonafide work done by B.HARIDHAR (14004561) G.AKhil(14004337)in partial fulfillment of the requirement for the award of degree in BACHELOR OF TECHNOLOGY in Electronics and Communication Engineering during the academic year 2015-2016. Faculty In Charge Head of the Department CERTIFICATE
  • 3. K L University DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING (DST-FIST Sponsored Department) We hereby declare that this project based lab report entitled “PICK AND PLACE ROBOT” has been prepared by us in partial fulfillment of the requirement for the award of degree“ BACHELOROF TECHNOLOGY in ELECTRONICS AND COMMUNICATION ENGINEERING” during the academic year 2015-2016. I also declare that this project based lab report is of our own effort and it has not been submitted to any other university for the award of any degree. Date: B.HARIDHAR(14004561) G.Akhil(14004337) DECLARATION
  • 4. Abstract Mankind has always strived to give life like qualities to its artefacts in an attempt to find substitutes for himself to carry out his orders and also to work in a hostile environment. The popular concept of a robot is of a machine that looks and works like a human being. The industry is moving from current state of automation to Robotization, to increase productivity and to deliver uniform quality. The industrial robots of today may not look the least bit like a human being although all the research is directed to provide more and more anthropomorphic and humanlike features and super-human capabilities in these. One type of robot commonly used in industry is a robotic manipulator or simply a robotic arm. It is an open or closed kinematic chain of rigid links interconnected by movable joints. In some configurations, links can be considered to correspond to human anatomy as waist, upper arm and forearm with joint at shoulder and elbow. At end of arm a wrist joint connects an end effectors which may be a tool and its fixture or a gripper or any other device to work. Here how a pick and place robot can be designed for a workstation where loading and packing of lead batteries is been presented. All the various problems and obstructions for the loading process has been deeply analyzed and been taken into consideration while designing the pick and place robot.
  • 5. Introduction Robotics is the branch of engineering science & Technology related to robots, and their design, manufacture, application, and structural disposition. Robotics is related to electronics, mechanics, and software. Robotics research today is focused on developing systems that exhibit modularity, flexibility, redundancy, fault-tolerance, a general and extensible software environment and seamless connectivity to other machines, some researchers focus on completely automating a manufacturing process or a task, by providing sensor based intelligence to the robot arm, while others try to solidify the analytical foundations on which many of the basic concepts in robotics are built. In this highly developing society time and man power are critical constrains for completion of task in large scales. The automation is playing important role to save human efforts in most of the regular and frequently carried works. One of the major and most commonly performed works is picking and placing of jobs from source to destination. Present day industry is increasingly turning towards computer-based automation mainly due to the need for increased productivity and delivery of end products with uniform quality. The inflexibility and generally high cost of hard-automation systems, which have been used for automated manufacturing tasks in the past, have led to a broad based interest in the use of robots capable of performing a variety of manufacturing functions in a flexible environment and at lower costs. The use of Industrial Robots characterizes some of contemporary trends in automation of the manufacturing process. However, present day industrial robots also exhibit a monolithic mechanical structure and closed-system software architecture. They are concentrated on simple repetitive tasks, which tend not to require high precision. The pick and place robot is a microcontroller based mechatronic system that detects the object, picks that object from source location and places at desired location. For detection of object, infrared sensors are used which detect presence of object as the transmitter to receiver path for infrared sensor is interrupted by placed object.
  • 6. Classification Of Robot Industrial robots are found in a variety of locations including the automobile and manufacturing industries. Robots cut and shape fabricated parts, assemble machinery and inspect manufactured parts. Some types of jobs robots do: load bricks, die cast, drill, fasten, forge, make glass, grind, heat treat, load/unload machines, machine parts, handle parts, measure, monitor radiation, run nuts, sort parts, clean parts, profile objects, perform quality control, rivet, sand blast, change tools and weld. Outside the manufacturing world robots perform other important jobs. They can be found in hazardous duty service, CAD/CAM design and prototyping, maintenance jobs, fighting fires, medical applications, military warfare and on the farm. TYPES OF ROBOTS AS PER APPLICATIONS: Nowadays, robots do a lot of different tasks in many fields. And this number of jobs entrusted to robots is growing steadily. That's why one of the best ways how to divide robots into types is a division by their application. INDUSTRIAL ROBOTS: Robots today are being utilized in a wide variety of industrial applications. Any job that involves repetitiveness, accuracy, endurance, speed, and reliability can be done much better by robots, which is why many industrial jobs that used to be done by humans are increasingly being done by robots. MOBILE ROBOTS: Also known as Automated Guided Vehicles, or AGVs, these are used for transporting material over large sized places like hospitals,
  • 7. container ports, and warehouses, using wires or markers placed in the floor, or lasers, or vision, to sense the environment they operate in. An advanced form of the AGV is the SGV, or the Self Guided Vehicle, like PatrolBot Gofer, Tug, and Specie-Minder, which can be taught to autonomously navigate within a space. AGRICULTURE ROBOTS: Although the idea of robots planting seeds, ploughing fields, and gathering the harvest may seem straight out of a futuristic science fiction book, nevertheless there are several robots in the experimental stages of being used for agricultural purposes, such as robots that can pick apples. TELEROBOTS: These robots are used in places that are hazardous to humans, or are inaccessible or far away. A human operator located at a distance from a telerobot controls its action, which was accomplished with the arm of the space shuttle. Telerobots are also useful in nuclear power plants where they, instead of humans, can handle hazardous material or undertake operations potentially harmful for humans. SERVICE ROBOTS: The Japanese are in the forefront in these types of robots. Essentially, this category comprises of any robot that is used outside an industrial facility, although they can be sub-divided into two main types of robots: one, robots used for professional jobs, and the second, robots used for personal use. Amongst the former type are the above mentioned robots used for military use, and then there are robots that are used for underwater jobs, or robots used for cleaning hazardous waste, and the like.
  • 8. Parts of a Pick N Place Robot Let us see what the pick and place robot actually consists of A Rover: It is the main body of the robot consisting of several rigid bodies like a cylinder or a sphere, joints and links. It is also known as a manipulator. End Effector: It is the body connected to the last joint of the rover which is used for the purpose of gripping or handling objects. It can be an analogy to the arm of a human being. Actuators: They are the drivers of the robot. It actually actuates the robot. It can be any motor like servo motor, stepper motor or pneumatic or hydraulic cylinders. Sensors: They are used to sense the internal as well as the external state to make sure the robot functions smoothly as a whole. Sensors involve touch sensors, IR sensor etc. Controller: It is used to control the actuators based on the sensor feedback and thus control the motion of each and every joint and eventually the movement of the end effector.
  • 9. Working of a Basic Pick N Place Robot The basic function of a pick and place robot is done by its joints. Joints are analogous to human joints and are used to join the two consecutive rigid bodies in the robot. They can be rotary joint or linear joint. To add a joint to any link of a robot, we need to know about the degrees of freedom and degrees of movement for that body part. Degrees of freedom implement the linear and rotational movement of the body and Degrees of movement imply the number of axis the body can move. A simple pick and place robot consists of two rigid bodies on a moving base, connected together with rotary joint. A rotary joint is a one which provides rotation in 360 degrees around any one of the axes.  The bottom or the base is attached with wheels which provide linear movement.  The 1st rigid body is fixed and supports the second rigid body to which the end effector is provided.  The 2nd rigid body is provided with movement in all 3 axes and has 3 degrees of freedom. It is connected to the 1st body with a rotational joint.
  • 10.  The end effector should accommodate all 6 degrees of freedom, in order to reach all sides of the component, to take up position to any height. On a whole, the basic pick and place robot works as follows:  The wheels underneath the base help to move the robot to the desired location.  The rigid body supporting the end effector bends or straightens up to reach the position where the object is placed.  The end effector picks up the object with a strong grip and places it at the desired position. Now that we have got a brief idea of the pick and place robot, the basic question is how it is actually controlled. A simple pick and place robot can be controlled by controlling the movement of its end effector. The motion can be using hydraulic motion, i.e. using hydraulic fluid under pressure to the drive the robot, or using pneumatic motion, i.e. using pressurized air to cause mechanical motion. However the most effective way is using motors to provide the required motion. The motors have to be controlled in order to provide required motion to the robot and the end effector. Working Example of Controlling a Pick N Place Robot How about controlling the robot with a just a few buttons on the keypad? Yes, it is possible! Just pressing the required button, we can transmit command to the robot to make it move in any direction to achieve our task. Moreover this can be achieved using simple wireless communication. Let’s see how this actually works: The transmitter part consists of the keypad interfaced to the microcontroller. Any button number in decimal format is converted to 4 digit binary by the microcontroller and the parallel output at one of its port is applied to the encoder. The encoder converts this parallel data to serial data and this is fed to the transmitter, fitted with an antenna to transmit the serial data.
  • 11. The receiver side consists of a decoder interfaced to the microcontroller. The decoder converts the received command in serial format to the parallel form and gives this data to the microcontroller. Based on this command the microcontroller sends the appropriate input signals to the motor drivers to drive the respective motors.
  • 12. The system consists of two motors for providing motion to the whole robot and two other motors to provide the arm motion. The end effector or the gripper needs to be controlled to apply proper pressure on the object to handle it effetely, to give it a soft grip. This is ensured by controlling the arm motors through proper command. The output from the arm motors is connected to a 10Ohms/2W resistor and at the time of motor over load or locked condition, a high voltage is developed across the resistor, which causes a logic high level at the output of the opt isolator and the interrupt pin of the microcontroller connected to the opt isolator output through a pnp transistor gets logic low signal, which halts all other operations of the gripper. Practical Applications of Pick and Place Robot Defence Applications: It can be used for surveillance and also to pick up harmful objects like bombs and diffuse them safely. Industrial Applications: These robots are used in manufacturing, to pick up the required parts and place it in correct position to complete the machinery fixture. It can be also used to place objects on the conveyer belt as well as pick up defective products from the conveyer belt. Medical Applications: These robots can be used in various surgical operations like in joint replacement operations, orthopedic and internal surgery operations. It performs the operations with more precision and accuracy. Advantages  Reducing man power  Fast production  Time management  Reducing damages for objects  They are accurate.  They increase the safety of the working environment and actually never get tired