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[attachment=3894]
Pick and Place Robot
Presented By:
A.Sunil Kumar, P. Veera Prasad Reddy, M. Surendra Nath
ABSTRACT
The aim of this article is to get familiarized with the modern field of robotics and to find the technology know -how. Also here we are using the sophisticated emerging technology -embedded system. Here we have designed a robot arm, controlled by a microcontroller. We choose this deign because it is the most common form of robot we can find anywhere in industries like car assembling, bottling plant, packing section etc. The driver circuits for these motors are to be controlled using 8051 microcontroller with a control key panel. The movement is established using stepper motors. pick and place robots are the small robots using for continuous purpose in the industries then let us go through some thing about pick and place robot by this article .
INTRODUCTION
WHAT IS A ROBOT?
Robot is any machine that does work on its own, automatically after it is programmed by humans. HISTORY OF ROBOTS:
The first robot's name was Electro and his dog's name was Sparko .They appeared at the New York world's fair in 1939. While plugged in, Elektro could say 77 words and move backwards and forwards.
In1920's, Karl Capek from Czechoslovakia introduced the words first robot on stage.
PICK AND PLACE ROBOT
We are going to design & implement a small model of pick and place robot, which pick and place object any where with in 360degrees and 30 cm diameters around it. The reason for choosing project is, the most extensively form of machine is used in most of the industries like car manufacturing, shipyards, assembling machine etc.
MICROCONROLLERS FOR EMBEDDED SYSTEMS
Microprocessors and microcontroller are widely used in embedded system products.
An embedded system is a system which is dedicated for a single purpose remains unchanged through out its entire life time. An embedded product uses a microprocessor (or microcontroller) to do one task and one task only.
STEPPER MOTOR:
A stepper motor is a widely used device that translates electrical pulses into mechanical movement. It is used for precise position control. # Increase or decrease the RPM (speed) of it.
To vary the RPM of motor we have to vary the PRF (Pulse Repetition frequency). Number of applied pulses will vary number of rotations and last to change direction we have to change pulse sequence.
CIRCUIT WORKING
The circuit mainly consists of three modules -control system, user interface module & a high voltage driver. A control system is nothing but the microcontroller. It has got the following modules.
1. User Interface Module.
2. Pulse Generator Module.
3. Timing Control Module.
4. Output Module.
When the keys are pressed the current flows directly to the ground due to the low resistive path making no more current available to the port pins pulling it down to low state, so when ever the keys are pressed the corresponding pins are pulled down. So normally every pin are at a high state giving a value of 1 when ever the keys are pressed the pins are to the low state giving the value 0.
This change is constantly monitored to check for any user interaction. The microcontroller constantly monitors port 0 for any change in port value and if it finds any change it generates the appropriate control signals. The stepper motor driver circuit consists of two stages-low power switching stage& high power switching stage. The function of the low power switching stage is to boost up the low power signal output from the micro controller to a high power signal so as to drive the power transistor.
Care should be taken while connecting the circuit to the motor as stepper has got a tendency to produce very high reverse current compared to DC motor.
To protect the circuit for this reverse current we have connected a diode in reverse bias across the coil supply so that whenever reverse current is present this diode will sink it protecting the circuit.
APPLICATIONS
Materials Handling
Industrial Robot applications
Debarring
Welding
Handling
Trimming and Sealing
Spraying and palletizing
FUTURE APPLICATION
Coal mining
Military Operation
Fire fighting Operation
Undersea Robots
Garbage Collection and Waste Disposal Operation.
CONCLUSION:
This robot is used for pick the object in one place and place that objects in required places. Some industrial works are harmful for humans this robot is mainly used for reduce the risk process and consuming time and avoid labors. Human are tired for hard work such as assembly line, material handling etc. this robot does all those things it mainly reduces the manual work our robot is designed at low cost as well as high efficient one.
This project is to give the way for providing bigger effective robot for
industrial applications.
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INTRODUCTION:
In this highly developing society automation playing important role to save human efforts in most of the regular and frequently carried works e.g. most of the industrial jobs like welding, painting, assembly, container filling etc. one of the major and most commonly performed work is picking and placing of jobs from source to destination. For this purpose, pick and place robot maybe used.
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. As soon as robot senses presence of object, it moves towards object, picks it with end effectors, and moves along way gantry and finally place it on destination.
If another object causes interrupt, it again does the same job. Whole process is controlled by micro controller.
[attachment=7514]
MECHANICAL DESIGN:
This pick and place robot has two main mechanical components:
B] Gantry for moving the arm.
A] Robotic arm and end-effectors.
OPERATION OF ROBOT:
1. Initially assume the rest position (idle position) of entire system, i.e. state when no object is placed.
2. At this stage, photo detector is having its output high, since receiver of sensor can receive photons from transmitter as no object I in its path to interrupt.
3. As soon as object is placed at the picking platform, the sensor gets interrupted and outputs low. This signal is sent to the microcontroller which is burnt with program which tells what operation is to be performed at this stage.
4. For understanding operation, let us rename the two motors used here. Let the name of gantry motor be M1 and that for end effecter motor is M2.
5. Now as microcontroller detects that object is placed, it moves motor M1 in say clockwise direction for a fixed time due to which whole arm moves towards picking platform.
6. As it reaches there, M1 stops and now motor M2 is started in say clockwise direction to hold the object by closing jaw. This motor also, is on for particular fixed time instant.
7. As M2 gets off, motor M1 is moved again in opposite (here anticlockwise) direction till the time it reaches the placing platform.
8. As it reaches placing platform, the motor M1 stops and M2 is switched ON in opposite (here anticlockwise) direction till it releases object properly on desired place.
9. If after this no object is detected, the robot is in rest position. Otherwise if another object is detected, steps from 3 are repeated till step 8.
BLOCK DIAGRAM DESCRIPTION:
I] Microcontroller: 1. PORT 0: (PIN NO. 39- PIN NO. 32): P0.0 P0.7 of the micro controller is connected to the motor driver circuit.
2. Pin no. 9 is RESET pin, which is connected to the reset circuit.
3. Pin no. 9 and 10 of ADC are serial data line (SDA) and serial clock line (SCL) respectively. Both are connected to a positive supply through a pull-up resistor. These pins are connected to the P1.6 & P1.7 of the micro controller.
II] DRIVER CIRCUIT:
1. The L293 and L293D are quadruple high-current drivers.TheL293is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.
2. All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN.
3. When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor applications.
4. A Vcc1 terminal, separate from Vcc2, is provided for the logic inputs to minimize device power dissipation.
.
FUTURE SCOPE:
1. Bottle filling Plant.
2. Construction works
APPLICATIONS:
1. It can be used in Production industry.
2. In mass production.
3. In Automobile Industry
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PICK AND PLACE ROBOT
Automatic Robotic arms are used in manufacturing industries at places where
it is hazardous for humans to work or where very fast, precise & repetitive work
needs to be done.Three motors will be used for picking up (pickup point) & placing
(drop point) the object. IR sensors will be used to detect if an object has arrived at the
pickup point, then the robotic arm will move & pick up the object & move towards
the drop point. Another IR sensor is used to check if any object is there at the drop
point if so an alarm will be sounded until the object at drop point is removed. As soon
as the object is removed, the object in the robotic arm is placed & the arm goes back
to initial position.8951/8952 microcontroller is used over here which checks the
sensor input & controls the motors. The circuit consist of three motors & their
corresponding drivers. Two IR transmitters & receivers for detecting the objects at
pickup & drop point.
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can you send me the whole details about this robot including circuit diagram,abstract, theory, explanations etc ?
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could you plz send me the estimated cost and requirements of this project,am working on this project
