DISCUSSION AND CONCLUSION Discussion
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effectors and it is analogous to the human hand. The end effector, or robotic hand, can be designed to perform any desired task such as welding, gripping, spinning etc, depending on the application. For example robot arms in automotive assembly lines perform a variety of tasks such as welding and parts rotation and placement during assembly. In some circumstances, close emulation of the human hand is desired, as in robots designed to conduct
bomb
disarmament and disposal. Pneumatic will be used to power a robotic arm. It is generally used for smaller robots, fewer degree of freedom(DOF) robots and limited to pick-and-place robots. Pneumatic drive system can be applied to the actuation of piston devices to provide linear motions and rotational motions can be achieved by rotary actuators In this lab, the students will program a pneumatic robotic arm using programmable logic controller(PLC). CX programmer software was used to program the robot by computer. The Programmable Logic Controller (PLC) is the workhorse of Industrial Industr ial Control systems. It uses digital and analog I/O modules to interface to sensors, actuators actuator s and other equipment. PLC has many "input" terminals, through which it interprets "high" and "low" logical states from sensors and switches. It also has many output terminals, through which it outputs "high" and "low" signals to power lights, solenoids, contactors, small motors, and other devices lending themselves to on/off control. In an effort to make PLCs easy to program, their programming language was designed to resemble ladder logic diagrams. While the CX-Programmer software is a PLC programming tool for the creation, testing and maintenance of programs associated with Omron CS1-series PLCs, CV-series PLCs and C-series PLCs.
Conclusion
The objective of this lab are achieve, in the end of this lab the student should be able to differentiate the data from experiment for analysis purposes and prepare technical report according to experimental objective including result, analysis, discussion and conclusion, to organize good team work during labatory experiments and to organize good leadership skill during the lavatory experiment. In this lab, we are introduced to programmable logic controller(PLC), by using CX programmer software to program the robot by computer. we need to conduct an activities, where robotic arm cans differentiate the non-metal objects through a capacitive sensor and pick and place the object from position X to Y Position. First of all, we need to assign I/O for the given task, connect electro-pneumatic circuit, design ladder diagram using motion diagram and upload ladder diagram and run the robot.
