A Report on Pick And Place Robot
Submitted as a requirement for the partial fulfillment of degree of Bachelor of Technology
in Electronic Instrumentation & Control
June-2016
Report Submitted By Name of Students
Univ. Roll No.
Chirag Joshi Abhiman Singh Rathore Girira j Singh Jhala Ashwini Singh Hada
12EGCEI018 12EGCEI004 12EGCEI020 12EGCEI016
Under The Guidance of Ankit Bansal
Assistant Professor of Department of EIC
Department of Electronic Instrumentation & Control Engineering Global College of Technology, Jaipur (Rajasthan Technical University) c Global College of Technology Jaipur, 2016. All rights reserved.
Certificate This is to certify that this dissertation report entitled “Pick and Place Robot” by Chirag Chirag Joshi, is the work completed under my supervision and guidance, hence approved for submission in partial fulfillment for the award of degree of Bachelor Of Technology in EIC to the Department of Electronic Instrumentation and Control Engineering, Global college of Technology, Jaipur in the academic session 2015-2016 for full time graduation program of 2012-2016.
Ankit Bansal Assistant Professor, Dept. of EIC GCT, Jaipur
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Declaration We the students of Electronics Instrumentation and Control Engineering, Global College of Technology, Jaipur hereby declare that the dissertation work done is being performed with the best of my technical know-how and efforts. This repor This reportt has has not not been been subm submit itte ted d earl earlie ierr to any any Un Univ iver ersi sitty or Inst Instit itut utee for the award of any degree / diploma.
Chirag Joshi
(12EGCEI018)
Abhiman Singh Rathore (12EGCEI004) Giriraj Singh Jhala Ashwini Singh Hada
(12EGCEI020)
(12EGCEI016)
ii
Dated 01-04-2016
Contents
Certificate
i
Declaration
ii
List of Figures
v
List of Tables
vi
Acknowledgment
vii
Abstract
viii
1 In Introd troduct uction ion
1.1 1.1 1.22 1. 1.3 1.44 1. 1.55 1. 1.6 1.77 1.
Backgro Back groun und d . . . . . . . . Project Proj ect Ai Aim m & Obje Objecti ctive vess Scop opee . . . . . . . . . . . Benefi Be nefitt of Proj Project ect . . . . . Impor Im portan tance ce of Work . . . Problem Prob lem Stat Statemen ementt . . . . Report Re port Ou Outl tlin inee . . . . . .
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2 Li Liter teratu ature re Re Revie view w
2.1 2.2 2.3 2.4
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An Autonom Autonomous ous Self-R Self-Repl eplica icating ting Robotic Robotic Syste System m . . . . . . . . Distributed Distri buted Sensing Sensing and and Control Control Framew Framework ork for Mobile Mobile Robot Robot . The Develo Developmen pmentt and Energetics Energetics of SlugBo SlugBot, t, a Robot Predator. Predator. Conclus Con clusion ion of Rev Review iew . . . . . . . . . . . . . . . . . . . . . . . .
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3 Ov Overv erview iew Beh Behav avior ior
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3.1 Prog Program ram Flo Flowc wchart hart . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Proje Project ct Con Constr struct uction ion
4.1 RF Trans ransmit mitter ter & Receiv Receiver er 4.22 DC Geare 4. Geared d Mot Motor or . . . . . . 4.2. 4. 2.11 DC Mo Moto torr . . . . . . 4.2. 4. 2.22 Se Serv rvoo Mot Motor or . . . . . 4.33 DI 4. DIP P Sw Swit itcch . . . . . . . . .
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4.4 4.4 4.55 4.
Powerr Su Powe Suppl pply y . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Progra Pro gramm mmin ingg Pi Pins ns . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5 Ci Circ rcui uitt Des Desig ign n
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6 Con Concl clusi usion on and and Futu Future re Scope Scope
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6.1 Co 6.1 Concl nclus usio ion n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6.2 Futur uturee Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Bibliography
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List of Figures 1.1 Ty Typica picall Pic Pick k & Pla Place ce Robot Robot . . . . . . . . . . . . . . . . . . . . . .
2
3.11 3.
Progra Pro gram m Flo Flow w Cha Chart rt . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.1 4.1 4.22 4. 4.33 4. 4.44 4. 4.55 4.
Pin La Pin Lay yout . . . . . Decod De coder er IC HT HT12D 12D . Encode En coderr IC HT HT12 12E E . A si simpl mplee DC Mo Motor tor . Serv Se rvoo Mo Moto torr . . . . .
5.11 5.
Proteu Pro teuss Circu Circuit it of of Projec Projectt . . . . . . . . . . . . . . . . . . . . . . . 23
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14 15 15 17 19
List of Tables
4.1 Pin Des Descri criptio ption n (HT (HT12D 12D)) . . . . . . . . . . . . . . . . . . . . . . . 16 4.2 Pin Descri Descriptio ption n (HT (HT12D 12D)) . . . . . . . . . . . . . . . . . . . . . . . 16 5.1 Robot Robotic ic mo move vemen mentt operat operation ionss . . . . . . . . . . . . . . . . . . . . . 24 5.2 Arm and Grip Grip mov movemen ementt operation operationss . . . . . . . . . . . . . . . . . . 25
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Acknowledgment The success and final outcome of this project required a lot of guidance and assistance from many people and we are extremely fortunate to have got this all along the completion of our project work. Whatever we have done is only due to such guidance and assistance and we would not forget to thank them. It gives immense pleasure in bringing out this Report of the project entitled ”Pick and Place Report”
Firs Firstl tly y we would ould lik like to exte extend nd our our deep deep sens sensee of grat gratit itud udee to our our Proje Project ct Guide, Ankit Bansal (Assistant Professor, EIC Dept.)who gave us the valuable suggest suggestion ionss and ideas ideas when we were were in the need of them. them. We wo would uld also like like to thank Arunabha Datta (Assistant Professor, EIC Dept.) who encouraged us to work on this Project. We are are grat gratef eful ul to Glo Globa ball Coll Colleg ege e of Techn echnol olog ogy y, for giving us the opportunity to work with them and providing us the necessary resources for the project project.. We wo woul uld d like like to thank thank all who helped helped us to comple complete te this this project project.. Last but not least, we would like to express our gratitude to our friends and respondents for support and willingness to spend some time with us.
Chirag Joshi
(12EGCEI018)
Abhiman Singh Rathore (12EGCEI004) Giriraj Singh Jhala Ashwini Singh Hada
(12EGCEI020)
(12EGCEI016)
B.Tech. Final Year EIC Global College of Technology
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Abstract The pick and place robot is one of the technologies in manufacturing industry and designe designed d to perfo p erform rm pick and place place functio functions. ns. The system system is very importan importantt to eliminate human errors and to get more precise work. It can also save the cost in long term and help to solve solve problems and tasks that cannot be done such as on high temperature area, narrow area and very heavy load thing. This project is a basic development and modification for that type of robot where it use the peripheral interface Programmable Logic Control (PLC) as the robot brain to control all of the robot movement. The rotation of this robot is 360 degree (clockwise) and -360 degree ( counter clockwise). The arm will move horizontally to pick up and hold the object from base A and places it to base B. This robot is used to pick and place the object only in their specifications (between 10g and 50g). The benefit is the robot is that the construction cost is very low.
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Chapter 1 Introduction In this highly developing society time and man power are critical constrains for complet completion ion of task in large large scales. scales. The automation automation is playin playingg importan importantt role to save save human human efforts in most most of the regular regular and frequen frequently tly carried carried works. works. One of the major and most commonly performed works is picking and placing of jobs from source to destination. The pick and place robot is a microcontroller based mechatronic system that that detec detects ts the object, object, pick pickss that that object object from from sourc sourcee locati location on and and plac places es at desired location. The main exploration in this project 1s about robotics project including a descrip description tion of the recently recently programmed programmed behavior behaviors. s. The reports begin with an overvi overview ew of the robot integrate integrated d system. system. It then continue continuess with with a descript description ion of the aspects of the robot; including robotic arm mechanisms their motor and servo actuators. This complete system allows the robot wander about its environment and to interact with certain objects that it encounters. The sensors provide the robot with with its only informa information tion about the environm environmen entt that it inhabit inhabits. s. These These sensors sensors include IR sensors on the robot platform which collects data while the programmed behaviors behaviors translate the information information into commands to its actuators. The robot’s behaviors include line following, pick the object up, and deliver them to specific areas in its environment.
1.1 1.1
Bac Backg kgro roun und d
Pick & Place robots are used in a wide variety of material transfer applications. Basically Basically,, the machine machine takes a product from one spot in the manufacturing manufacturing process and places it into another location. A good example is a robot picking items off a conveyor belt and placing them into packaging boxes.
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The typical pick and place application requires high amounts of repetitive repetitive motion. Robots Robots can elim elimin inate ate hu human man operat operatio ion n of haz.a haz.ardo rdous us tasks tasks such such as chem chemic ical al spraying spraying or heavy lifting. Pick and place robots have have high return on investment investment when consistent shaped parts or containers are handled. Unlike human operators, robots also have the ability to work for an extended time.
Figure 1.1: Typical Pick & Place Robot
1.2 1.2
Projec Projectt Aim Aim & Object Objectiv ives es
The aim of this project is to design an autonomous robot with complete system allows allows the robot rob ot wander about its environmen environmentt and to interact with certain objects that it encoun encounters ters.. In order to achieve achieve the aim of this project, several several objective objectivess are needed to be completed. 2
(i) To study the concept on how pick and place robot function and operate. (ii) To design the hardware for pick and place robot. (iii) To make the system run continuous continuously ly with less rest (iv) To make an interface between between the programming of robot arm and the sensors. (v) To make make the robot’s gripper gripper has the function function of pick pick and place. place. (vi) To make the robot capable to stop at the desire location accurately. accurately.
1.3
Scope
To implement an autonomous mobile robot which drive a vehicle without any human hu man interf interface. ace. It build build by micro-con micro-control troller ler (Basic (Basic Stamp), Stamp), servo servo motors and infrared sensor and all the program is up loaded into the controller to makes its own decision and determine the position. In order to design successful pick and places robot, scopes are required to assist assist and guide guide the develop developmen mentt of the project. The scope should should be b e ident identified ified and planned to achieve the objective of the project successfully on the time. The scopes for this project are: (i) To design a program that controls the robot movement. movement. (ii) To design mechanical mechanical structure for the robot (iii) To fabricate Circuit Board for the controller controller
1.4
Benefi enefitt of Proje Projec ct
(i) It can show about the applicati application on among the PLC. (ii) Eliminate Eliminate the usage of human power to pick up things. (iii (iii)) Preve Prevent nt back back pain/b pain/bac ack k inju injuri ries es du duee to pick pickin ingg up heavy heavy loads loads by the operator. (iv) Increase productivity productivity and efficiency. efficiency.
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1.5 1.5
Impor Importa tanc nce e of Work ork
In this scenario, the industries having a problem by risking human life in some hazardou hazardouss duty duty service. service. Robots Robots can work in envir environm onment entss so hazardou hazardouss that an unprotected human would quickly die. Take for example bomb disposal. Typically these robots resemble small armored tanks and are guided remotely by using cameras cameras attach attached ed to the front front of the robot. Robots Robots can grab a suspected suspected bom b omb b and place it in an explosionproof safe box for detonation and/or disposal.
1.6 1.6
Prob Proble lem m Stat Statem emen entt
This picks and place robot being designed to ease the sorting process of heavy materials. Usually the transfer process of the heavy materials is being carried out using man power and if the transfer process is repeated for a period of time, it can cause injuries to the operator. By using this particular robot, the operator will no longer have to bent and lift up heavy loads thus preventing injuries and increasing the efficiency of the work. Operator will make mistakes mistakes whether whether small or big every every one in a while .In the industrial world, the industry cannot afford to take kind of mistakes. Every mistake is costly whether in time, money, and material.
1.7
Repo eport Outli utline ne
This project report has 8 chapters altogether. Chapter 1 gives some introduction and the objectives of this project. The literature review of this project is reported in chapter 2. This chapter reviews the related work that has been done by other peopl people. e. Ch Chapt apter er 3 give givess the the overv overvie iew w behav behavio iorr of the robot. robot. Th Thee main main parts parts behind behind the wo worki rking ng of the robot are explained explained in Chapter Chapter 4. It is the main main part of this report. It has three main sections which are: (a) Microcontrollers Microcontrollers (b) Motors (c) Other equipments in the circuit Chapter 5 is the Circuit Design of the project.Last but not least, chapter 8 gives the conclusion and future scope of this report.
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Chapter 2 Literature Review The Pick and Place Mobile Robot has been attempted before in many laboratories and other places to upgrade the autonomous robot and the gripping system i.e. robot into a faster movemen movementt and more up to date controller. controller. This chapter chapter reviews existing techniques and ways of intelligent autonomous pick and place robot.
2.1 2.1
An Auto Autono nomo mous us Self Self-R -Rep epli lica cati ting ng Robot Robotic ic System
The plane The planett corpora corporati tion on in 1959 introdu introduced ced a pick pick and place place robot. robot. In 1961, 1961, the first industrial robot was commercialized commercialized by Unimation Unimation Inc. Microprocessor Microprocessor technology technology was brought brought by INTEL in 1961. The real robot developmen developmentt process continued between 1968 and 1982 when various models of robots were developed by leadin leadingg robot scien scientist tistss in differen differentt unive universi rsitie ties, s, national national laborator laboratories ies and different industrial houses in the USA, Japan, France, UK, and other European countries. Andrew B. Cushing, Jackrit Suthakom and Gregory S. Chirrikjian [1] from Departm Department ent of Mechani Mechanical cal Engineer Engineering ing,, Johns Johns Hopkin Hopkinss Unive Universi rsity ty Baltim Baltimore, ore, Marylan Maryland, d, implem implemen entt the ”An Autonom Autonomous ous Self-R Self-Repli eplicati cating ng Robotic Robotic System” System”.. This robot consists with four subsystems: controller, controller, left tread, right tread, and gripper/sensor gripper/sensor subsystems. subsystems. All subsystems subsystems are connected to others using magnets and shape constrai constraints nts.. The two light light sensors sensors in its navigati navigation on system system to detect detect objects and also to track lines. In this this desig design n and descri descript ptio ions, ns, LEGO LEGO RCX RCX is used used for for contro controll ller er the subsystem which fit inside a chassis. The chassis’s sides are used to connect to the left and right treads. The gripper/sensor subsystem is comprised of 9v LEGO DC motor, set of rack and pinion gears used to drive the left/right of the gripper, a set of electrical connections and two light sensors (one is pointed downward, other the other is pointed forward). 5
In control and programming shows the grasping process consists of an aligning push push towa towards rds the subsyst subsystem, em, and closing closing the gripper gripper to grasp grasp the subsystem subsystem.. On the other hand, the assembly process consists of the opening the gripper to release the subsystem, and an aligning push forward to snap the subsystem to the controller. The replication process takes two minutes and fifteen seconds per cycle. Although each subsystem is required to place in its starting location, errors in initial initial position position and orien orientati tation on are not very very critical critical.. There There were were slight slight errors during the grasping process in a few experiments caused by improper placement of the subsystems.
2.2
Distri Distribut buted ed Sens Sensing ing and Contro Controll Fram Framew ework ork for Mobile Robot
Another example, Chris Nowak, Rajaey Kased, Chin Pei Tang from Department of Mechani Mechanical cal and Aerospac Aerospacee Engineer Engineering ing,, MAE405/ MAE405/405: 405: Mechatr Mechatroni onics, cs, 2002 implement a project on ”Distributed Sensing and Control Framework for Mobile Robot”. Robot”. The main task task of this project project is to transport transport a pack package from a pickup pickup stati station on to a dropdrop-off off stati station. on. Th Thee pack package age trans transport portati ation on is done done by wh wheel eeled ed mobile robot (WMR) with a gripper system in front of it, which works as a lifting device. The package package availabil availability ity on pickup pickup station is done by a pushbutton pushbutton on the platfor platform m of the station. station. Also, Also, there is another pushbutt pushbutton on set up at the drop-off drop-off station to check whether the package has successfully sent. To achieve thi this con ontr trol ol schem heme, they hey having a mobile un uniit and stat static ic un unit it,, wire wirele less ss comm commun unic icat atio ion n is more more adeq adequa uate te.. Infr Infrar ared ed and and radi radioo freq freque uenc ncy y comm commun unic icat atio ions ns are are chose hosen n as thei theirs rs comm commun unic icat atio ions ns sche scheme me.. Thes Th esee comm commun unic icat atio ion n sche scheme mess are are send sendin ingg and and rece receiv ivin ingg data data with with seri serial al communication.WMR setup by servomotors: movement of the MMR, IR ranging system system:: distanc distancee detector detector,, Fire-S Fire-Stic tick k II (IR transmitte transmitter): r): transmi transmitt data to base station station,, RF receiver: receiver: receiv receivee data from base station station,, Gripper Gripper system: system: the lifting lifting device, Counterweight: to balance the moment of the WMR. The basic directional motion required for this project is forward, backward, left left and righ right. t. Th Thee wh whol olee moti motion on is prepr preprogr ogram amme med d in the Basi Basicc Stamp Stamp on the the WMR. WMR. Th Thee moti motion on is done done in two modes modes:: cali calibr brat atio ion n (open (open loop loop)) and and measurement (closed loop).The mode at each path is selected by trial-and-error.
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Since calibration and trial-and-error might not work well all the time, they tried to use this ranging sensor to improve the WMR motion control.
2.3
The
Development
and
Energetics
of
SlugBot, a Robot Predator. Ian Ian Kelly Kelly,, Ch Chris ris Melhu Melhuis ish h and and Owen Owen Holl Holland and,, from from Facult aculty y of Eng Engin ineer eerin ing, g, Unive Universi rsity ty of the West of England, England, Bristol Bristol,, BS16 lQY, UK, implemen implementt ”The Developmen Developmentt and Energetics Energetics of SlugBot, SlugBot, a Robot Predator”. This robot capable of autonomous action on agricultural land and the robot will sustain its self by hunting and catching slugs. In the design, the sensor used for detecting slugs, and the gripper used for catching them. This both parts are located at the end of a long articulated arm. During scanning the sensor and gripper will be actively maintained at a constant heigh heightt above above the ground ground using using ultrasoni ultrasonicc sonar. sonar. When a slug slug is found, found, it will be picked up by the gripper, which will be already directly over it, and transferred to an on-board on-board storage storage contain container. er. Then, Then, the arm will be returned returned to its former former location so that scanning can continue. The arm’s end-effector is a robust lightweight gripper capable of picking up and releasing both wet and dry slugs which regardless of their size, orientation, slim slimin ines ess, s, and in the presenc presencee of irreg irregul ulari ariti ties es in the subs substra trate. te. Th Thee versio ersion n consists of three fingers at 1200 spacing, operated by a single miniature motor shown shown in figure figure 2.3. As the fingers close, close, they meet underneath underneath the slug so that it can be lifted; when the gripper is opened, three wiper blades ensure the slug’s release, however much slime is present. The vision-based system is used to sensor the slug detection in this robot. Since this sensor offers the best combination of size, weight, cost, and effectiveness. VLSI VLSI Vision Vision Ltd. Produce Produce monochrom monochromee CMOS, CMOS, single single ’chip’, ’chip’, image sensor that is small, small, light lightwe weigh ight, t, relativ relatively ely low low pow power er ( ¡175m ¡175m W), of adequate adequate resoluti resolution on (164 (164 by 124 pixels pixels), ), and sensit sensitiv ivee ( down down to 0.1 0.1 Lu Lux). x). It is inex inexpens pensiv ive, e, has a digital interface, and the maximum frame rate of 60 Hz enables reasonably high slug scanning scanning speeds. This image sensor also has adjustable adjustable automatic exposure
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contro control, l, and and can calcu calcula late te the avera average ge image image inten intensi sity ty of the last last fram frame, e, and perform pixel level threshold using an adjustable threshold. Thee robot Th robot syste system m is quite quite compl complex ex.. Th There ere are a number umber of motors motors (gripper (gripper,, elbow, shoulder, turntable, drive, steering) which must be precisely controlled, and several sensors (shaft encoders, imaging, obstacle avoidance, scan level, battery lev level, el, limi limitt swit switch ches es etc.) etc.) which which must must be moni monitor tored. ed. An added compli complica cati tion on is that that of the turn turntab table le,, both powe powerr and contro controll signa signals ls must must be trans transmi mitte tted d from the turntable to the main robot base and vice-versa, but many wires would become too twisted and eventually breaks.
2.4 2.4
Conc Conclu lusi sion on of Revi Review ew
From the study purpose of the existing project, a clear view exit how to do a better project for the purpose of doing final year project. A set of rack and pinion gears used to drive the left/right of the gripper. The gripper system was modified to one gear which attach to a standard servo and its mate was free to rotate on a fixed shaft. shaft. A version version consists consists of three three fingers fingers at 120 spacing, spacing, operated operated by single single miniatur miniaturee motor. motor. Pick Pick and Place Mobile Mobile Robot robotic arm which which have have horizontal rotation. The amount of rotation will be from O degrees to 90 degrees counterclockwise. There will be one servo motor driving this robotic arm and two mini mini servo to control control the gripper gripper (open and close). close). The robotic robotic arm and gripper will be made out of Perspex and will be used to move the gripper claws. This Pick and Place Mobile Robot consists of IR detectors and emitters and bump switches to detect the line and to stop motion of the robot.
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Chapter 3 Overview Behavior An overview of the Autonomous Pick and Place Robot behaviors is as follows. Thee robot Th robot init initia iall behav behavio iorr of line line foll follow owss and and objects objects sendin sending. g. The flow flowchar chartt shows the total behavior by each process.
3.1 3.1
Prog Progra ram m Flo Flowchart hart Start
Follow Line
Check Bump Switch Stop! Hit Bumper 1?
No
Yes Arm goes down
A
9
A
Grip the object
Object lifted
Follow line
Check Bump Switch Stop! Hit Bumper 2?
No
Yes Arm goes down
let the object
Robot Move
Stop
Figure 3.1: Program Flow Chart
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Chapter 4 Project Construction The design of the Autonomous Pick and Place Mobile Robot which works on ground for the pass section is based on the theory of front wheel design where pullin pullingg consume consume less energy than pushing. pushing. Hence, Hence, I decided decided to put the wheel wheel in front after empirical empirical of observation observation and studies. The concept of the Pick and Place Mobile Robot is based on the AGV (Automated Guided Vehicle) which may look a bit bit compl complic icate ated d at a glan glance ce but it actual actually ly consis consistt only only 6 main main parts. parts. Th Thee 6 main parts behind the working of the robot are as follow: 1 RF Transmi Transmitter tter & Receiver 2 DC Geared Motor 3 Power Supply 4 DIP Switches 5 Programming Pins All parts mentioned are vital in the functionality of the robot. One cannot work without the others. As such, it is paramount to ensure that each part plays its function properly. Further details about the parts of the project are discussed briefly.
4.1 4.1
RF Trans ransmi mitt tter er & Rec Recei eiv ver
Radio Frequency: Radio frequency (RF) is a rate of oscillation in the range of
around 3 kHz to 300 GHz, which corresponds to the frequency of radio waves, and the alternating currents which carry radio signals. In this this RF syste system, m, the digi digital tal data data is repres represen ented ted as varia ariatio tions ns in the amplitude of carrier wave. This kind of modulation is known as Amplitude Shift Keying (ASK).
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• Cheap and widely used • Over 40 millions systems manufactured each year utilizing low-power wireless
(RF) technology for data links, telemetry, control and security. RF Characteristics:
• Low power - Typically transmit less than 1mW of power • Good operating range - Operate over distances of 3 to 30 meters • Supports data rate up to 1-2 Mbps • Penetrates walls • Does not require a direct transmission path (as opposed to IR) RF Features:
• Serial interface (RS232) • Power supply - 4.5 V dc from three 1.5 V AAA batteries • Operating frequency: 916.50 MHz • Maximum data rate : 22.5 kbps • Operating range: up to 25 meters – Obtained in an electrically quiet outdoor location
Greatly influence influenced d by buildin buildingg construc constructio tion n material materialss and conten contents, ts, – Greatly other radio systems operating in the vicinity, and noise generated by nearby equipment • Provide link-layer packet protocol RF Module: The RF module, as the name suggests, operates at Radio Frequency.
The corresponding frequency range varies between 30 kHz & 300 GHz. • Transmission through RF is better than IR (infrared) • Signals through RF can travel through larger distance • This RF module comprises of an RF Transmitter and an RF Receiver • Tx/Rx pair operates at a frequency of 434 MHz
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• The transmission occurs at the rate of 1Kbps Specifications:
• Range in open space (standard condition) 100 meter • RX receiver frequency : 433MHz • RX typical sensitivity : 105dBm • Rx supply current : 3.5mA • Rx IF frequency : 1MHz • Low power consumption • Easy for application • RX operation voltage : 5V • TX frequency Range : 433.92MHz • TX supply voltage; 3V 6V • TX out out pu putt pow power : 4
12Db 12Dbm m
Components Used:
• IC HT12D,HT12E • TRANSISTOR BC558,SL100 • ASK TRANSMITTER 433MHZ • ASK RECEIVER 433MHZ • PUSH TO ON SWITCH • RELAY SWITCH • LED (RED) • RESISTORS • CAPACITORS
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Figure 4.1: Pin Layout
HT12D Decoder: Features:
• Operating voltage: 2.4V 12V • Low power and high noise immunity CMOS technology • Low standby current • Capable address setting • Received codes are checked 3 times
Address/data number number combination combination • Address/data • 8 address bits and 4 data bits
HT12E Encoder: Features:
• Operating voltage: 2.4V 12V
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• Low power and high noise immunity CMOS technology • Low standby current: 0.1A (typ.) at VDD=5V • Four words • Built in oscillator needs only 5 • Data code has positive polarity
Figure 4.2: Decoder IC HT12D
Figure 4.3: Encoder IC HT12E
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Pin Number
Description
1-8
A0-A7
9
GND
10-13
AD0-AD3
14
Input
15
O SC 2
16
O SC 1
17
VT
18
Vcc Table 4.1: Pin Description (HT12D)
Pin Number
Description
1-8
A0-A7
9
GND
10-13
AD0-AD3
14
TE (Active Low)
15
O SC 2
16
O SC 1
17
VT
18
Output Table 4.2: Pin Description (HT12D)
4.2
DC Gea Geared red Moto otor
Motor is a machine or device that converts any form of energy into mechanical energy, or imparts motion. In constricting a robot, motor plays an important role as to giv give move movemen mentt to the the robot. robot. In general general,, motor motor operates operates with with the effect effect of condu conducto ctorr with with curre current nt and and the perman permanen entt magnet magnetic ic field field.. The condu conducto ctorr with with curren currentt will will produc produces es magne magnetic tic field field wh whic ich h will will react react with with the magne magnetic tic field field produces produces by the perma p ermanen nentt magnet magnet to make make the motor motor rotate. rotate. There There are 16
three basic types of motor, DC motor, servo motor and stepper motor which are commonly being used in building a robot.
4.2.1
DC Motor
The DC motor is a device that converts electrical energy into mechanical energy. The DC motor has a rotating armature in the form of an electromagnet. A rotary switch called a commutator reverses the direction of the electric current twice every cycle, to flow through the armature so that the poles of the electromagnet push and pull against the permanent magnets on the outside of the motor. As the poles of the armature electromagnet pass the poles of the permanent magnets, the commutato commutatorr reverse reversess the pola p olarit rity y of the armatur armaturee electro electromag magnert nert.. During During that instant of switching polarity, inertia keeps the classical motor going in the proper direction.
Figure 4.4: A simple DC Motor When the coil is powered, a magnetic field is generated around the armature. The left side of the armature is pushed away from the left magnet and drawn toward toward the right, causing causing rotation. The armature continue continuess to rotate. When the armatur armaturee becomes becomes horizon horizontal tally ly aligned aligned,, the commutat commutator or reverse reversess the directi direction on of current through the coil, reversing reversing the magnetic magnetic field. The process then repeats. 17
Current Use:
• Used in industrial applications applications because the speed-torque speed-torque relationship can be
varied to almost any useful form. • Often applied where they momentarily deliver three or more times their
rated torque. • Used on applications requiring quick stops. Features:
• Speed can be controlled smoothly down to zero. • Immediately followed by acceleration in the opposite direction without power
circuit switching. • Respond quickly to changes in control signals due to the dc motor’s high
ratio of torque to inertia. Advantages:
Simple to operate operate and do not rely rely upon a control control circuit circuit.. • Simple • Simply Simply attach attach a DC power power supply supply to the DC motor motor and it will will run. • Have stators and rotors. • The rotor motion does not follow stators that are sequentially magnetized. Disadvantages:
• Do not have inherent positional control. • Optical sensors may malfunction because of dust or wear particles created
by the mechanical braking system. • Have a negative effect on achieving the accuracy and precision of piston
movement required in an application. • Must incorporate additional mechanisms, such as gearing, clutches, and a
solenoid brake to control speed and stop the rotor in desired positions. • The reliability of the DC motor system is frequently an issue.
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4.2. 4.2.2 2
Serv Servo o Moto Motor r
Servomotors are basically geared down dc motors with positional feedback control, allow allowing ing for accurate accurate positioni positioning ng of the rotor, with a range range of 90 degrees degrees.. They can also be modified to allow for continuous continuous rotation. The servo is controlled controlled by three wires: ground (black), power (red), and command (typically white). Power is usually between 4 v and 6v and should be separate from system power ( as servos are electrically noisy). Servos may be driven to higher voltages to improve torque and speed characteristics. characteristics. The servo motor has some control circuits circuits and a potentio potentiomete meterr ( a variable ariable resistor) resistor) that is connecte connected d to the output output shaft. The pot can be seen seen on the right side of the circuit circuit board. This This pot p ot allows allows the control control circuit circuitry ry to monitor monitor the current current angle angle of the servo servo motor. motor. If the shaft shaft is at the correct correct angle, angle, then the motor shuts shuts off. If the circuit circuit finds that the angle is not correct, it will tum the motor the correct direction until the angle is correct.
Figure 4.5: Servo Motor Once the servo has received the desired position (via the PWM signal) the servo servo must must attempt attempt to match the desired desired and actual actual positions. positions. It does this by turning a small, geared motor left or right. If, for example, the desired position is less less than the actual actual position, position, the servo servo will will tum to the left. left. On the other hand, if the desired position is greater than the actual position, the servo will tum to 19
the right. right. In this manner, manner, the servo servo ”zeros”zeros-in” in” on the correct correct position position.. Shou Should ld a load force the servo horn to the right or left, the servo will attempt to compensate. Serv Servos os are are comma commande nded d throu through gh ”Pu ”Puls lsee Width Width Modul Modulati ation on,” ,” or PWM, PWM, signal signalss sent sent through through the command command wire. This This control control signal signal is a variabl ariable-w e-width idth puls pu lse, e, wh whic ich h can be varied aried from 1 to 2 ms. ms. Th Thee pu puls lsee width width contro controls ls the rotor rotor position position.. A 1.0 ms pulse rotates rotates the shaft shaft all the way countercounter-cloc clockwi kwise. se. A 1.5 ms pulse puts the rotor at neutral (0 degrees), and a 2.0 ms pulse will position the shaft all the way clockwi clockwise. se. The pulse is sent to the servo servo at a frequenc frequency y of approximately 50 Hz. Current Use:
• Used in Radio Controlled models like cars, airplanes, robots, and puppets. • Used in powerful heavy-duty sail boats. • Extremely useful in robotics. • Normally a servo is used to control an angular motion of between 0 and 180. Features:
• Inco Incorpor rporat ates es a three three wire wire DC Motor Motor,, a gear gear train train,, a poten potentio tiome meter ter,, an
integrated integrated circuit • The shaft of the servo can be positioned to specific angular positions by
sending a coded signal. • Draws power proportional to the mechanical load. • Lightly loaded servo, therefore, doesn’t consume much energy. • When the control circuit detects that the position is correct, it stops the
motor and if detect the incorrect angle, it will turn the motor to the correct direction until find the correct angle. Advantages:
• If a heavy load is placed on the motor, the driver will increase the current
to the motor motor coil as it attempt attemptss to rotate the motor. Basica Basically lly,, there there is no out-of-step condition. However, too heavy a load may cause an error. • High-speed operation is possible.
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Disadvantages:
• Since the servomotor tries to rotate according to the command pulses, but
lags behind, it is not suitable for precision control of rotation. • Higher cost. • When stopped, the motor’s rotor continues to move back and forth one pulse,
so that it is not suitable if you need to prevent vibration.
4.3
DIP Switch tch
DIP Switches are manual electric switches that are packaged by group into a standard dual in-line package (DIP). This type of switch is designed to be used on a printed circuit board along with other electronic components to customize the behavior behavior of an electron electronic ic device in specific specific situati situations. ons. DIP switches switches are also also known as toggle switches, which mean they have two possible positions – on or off. (Sometim (Sometimes es instead instead of on and off, you you may see the nu number mberss 1 and 0 on the DIP Switch.) Types:
• Slide and Rocker Actuator DIP Switches: These are typical on/off switches
with a SPST (single-pole, single-throw) contacts. They have a one-bit binary value with a standard ASCII character. • Rotary DIP Switch: Switch: This DIP switch has several electrical electrical contacts which
are rotated and aligned. They switches can be small or large and provide a selection selection of switching switching combination combinations. s. • SPDT (double pole single throw) • DPST (double pole single throw) • DPDT (double pole double throw) • MPST (multiple-pole • single-throw) and MTSP (multiple-throw • single-pole) DIP switches
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Applications: Typical Dip Switch applications include:
• Telecommunications • Computer Motherboards • Remote controls for frequency setting (like garage door openers) and other
electronic devices requiring option settings
4.4 4.4
Power Supp Supply ly
The robot has 2 differen differentt pow power er supply supply needs. The 5V pow p ower er supply is vital for the microcontroller, IR sensors and bump switches. The 6V power supply is need by the 5 servo-motors as the 5V supply is insufficient to run the servo-motors smoothly smoothly.. That is wh why y 6V (1.3AH (1.3AH)) fuel sealed sealed recharg rechargeabl eablee battery battery are used as supply to the Pick and Place Mobile Robot. The purpose of the switch is to tum ON/OF ON/OFF F the robot as a wh whol olee incl includ udin ingg the 2 wh wheel eel servo servomo motor tors. s. When When the switch is turned ON, the 6V supply will go into the LM7806 regulator through the first first pin pin of the regul regulato ator. r. The output output of the regula regulator tor from the third third pin pin is a constant 5V supply that is important to the microcontroller, IR sensor and the bump switche switches. s. The purpose purpose of the capacit capacitor or is to ensure that the supply is constant without irregularities and distortion.
4.5 4.5
Prog Progra ramm mmin ing g Pins Pins
There are 4 programming pins for the socket of the programming cable to connect to. This This is how how the source source code of a program program is transferre transferred d from the computer computer to the EEPROM EEPROM of the microcont microcontroll roller. er. The programmi programming ng pins pins correspon correspond d to the first 4 pins of the BS2 microcontrol microcontroller. ler. One end of the programm programming ing cable cable has a female socket that is designed to be able to connect to the 4 pins of the programm programming ing pins. pins. The other end is male socket socket that is connected connected to the serial serial port of the computer.
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Chapter 5 Circuit Design
Figure 5.1: Proteus Circuit of Project There are 4 motors out of which 2 motors are for robotic movement forward and backward, left right and other two motors are independently controlled for certain movement like hand movement or which can be used as a pick and place arrangem arrangement ent.. As usual we have have a transmi transmittin ttingg unit unit which which is compris comprising ing of a 20 pin microcontroller AT89C2051/AT89C4051 and a receiving unit comprising of a 40 pin microcontroller 80C51/80C52. For the purpose of simulation we are connecting 4 data bus of transmitter (AT89C2051 (AT89C2051)) to the receiver microcontroller microcontroller (80c52). Some LEDs are connected to see data out. On the receiver front two two motor driving ICs L293D are connected.
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For operating the robot we have taken into effect one matrix keypad. This matrix keypad could be any telephone keypad. This matrix keypad will do all the necessary functions that are required. Also we have got the interrupts pins of the microcon microcontrol troller ler 80C52, 80C52, i.e. i.e. INT0 INT0 and INT1 used for the purpose of interr interrupts upts.. Interrupts are required when one of the motor is going into the lock condition. For instance, it may happen that arm is fully open or fully closed. When it is so, the motor goes into locke locked d rotor rotor conditi condition. on. In that situation situation interrup interruptt can come and stop the motor. This is the purpose of using the interrupt here. When we simulate this we find that, when we press 1 the motor-2 rotates in clockwis clockwise. e. When we press press 3, motor-1 motor-1 rotates rotates in clockwi clockwise. se. When pressed pressed 5, both motor-1 motor-1 and motor-1 motor-1 rotates anticl anticlockw ockwise ise.. When pressed pressed 2, both of the motors, motor-1 and motor-2 rotates clockwise. The * button is used for the stop function. So we can achieve the following command as far the robotic movement is considered: considered: Button Pressed
Motor-1
Motor-2
Operation
1
-
Clo ckwise
Left
3
Clo ckwise
-
Right
2
Clo ckwise
Clo ckwise
Forward
5
Anticlo ckwise
Anticlo ckwise
Backward
*
-
-
STOP
Table 5.1: Robotic movement operations For the other two motors, when 7 is pressed motor-4 rotates in anticlockwise. When When 9 is presse pressed d motor motor-4 -4 rotates rotates in clock clockwi wise se.. Th This is could could be used used for arm opera operati tion on,, wh whet ethe herr the the arm arm is openi opening ng or clos closin ing. g. For maki making ng the the arm arm up and and down, down, we hav have 8 bu butto tton n on matri matrix x keyp keypad ad which which will will rotat rotatee motormotor-33 in up (clockwis (clockwise) e) and 0 for making making motor-3 motor-3 rotate down down (antic (anticlock lockwis wise). e). At any moment we can stop it by pressing * Now suppose the arm up and down movement is going on and an interrupt comes on because the limit is reached, it also stops the motor. Similarly, for the opening and closing functions are carried out with gripper and if the limit is reached, then also interrup interruptt stops stops the motor. Interr Interrupt upt can either either come from hardware hardware like some photo-sensing device which will force a 0 to these pins when the limit 24
Button Pressed
Motor-3
Motor-4
Operation
7
-
Anticlo ckwise
Grip Open
9
-
Clo ckwise
Grip Close
8
Clo ckwise
-
Arm up
0
Anticlo ckwise
-
Arm Down
*
-
-
STOP
Table 5.2: Arm and Grip movement operations reach reaches. es. We can also also use use some some curren currentt sens sensin ingg devi device ce for the motor motor.. When When a motor motor goes into into lock rotor condition, condition, the current current goes high. When the current current goes high, one sensor can be used so any of these interrupt will go low This is how This how matri matrix x keypad eypad is used used to achi achiev evee roboti roboticc funct functio ions ns requi required red for the purpose in a feasible manner and write the program accordingly for getting the operation done.
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Chapter 6 Conclusion and Future Scope 6.1
Conc Conclu lusi sio on
Robots are examples of programmable automation, however they are also used in flexib flexible le or even even fixed fixed automa automati tion on syst systems ems.. The two two reaso reasons ns for for sele selecti cting ng a robot to operate in a production line are first to reduce labor costs and second to perform perform work that is boring, unpleasan unpleasantt or hazardou hazardouss for human human beings. beings. Robot can perform repetitive tasks at a steady place, be programmed to achieve and perform different unpleasant tasks, operation for long period without rest or break period, period, and response response in automati automation on manufac manufacturi turing ng operation operation on a contin continuous uous basis. Robot technology is an applied science that is referred to as a combination of machine tool fundamentals and computer application, the variety of technical features about the way a robot is construction and works and the factors thats influence its selection robot system are usually classified as low technology and high high techn technol ology ogy groups groups.. The capaci capacity ty of a robot robot to posit positio ion n and orient oriented ed the end of its arm with accuracy and repeatability is an important control attribute. Among the important properties of a robot to properly regulate its motion are : • Stability • Control Resolution • Spatial Resolution • Accuracy • Repeatability • Compliance
Prog Progra ramm mmin ingg is the the proce process ss of prep prepar arin ingg a deta detail iled ed sequ sequen ence ce of opera operati ting ng instruction to solve a particular problem, testing it to ensure its accuracy, and preparin preparingg documen documentati tation on to be run on a digital digital computer computer.. Robot programmi programming ng 26
can be defined as a path in space through which the manipulator is directed to move move.. A program program is a logically logically arranged arranged set of programmi programming ng instructi instruction. on. The capabilities of a robot operating system depend on the type of controller, the arm configuration and the method used to train the robot.
6.2 6.2
Futur uture e Work ork
• Can be used to interact with the household objects and observing the result
with the help of camera system. • Ca Can n be used used for for accu accura rate te hold holdin ingg and and inspe inspect ctio ion n appl applic icat atio ions ns in the the
industries. can be used used for for a pick pick and and place place app appli licat catio ions ns in indus industri tries es lik like soap soap • It can manufacturing manufacturing,, pharmacy etc. challenge for the feature has been analyzed and evaluated evaluated because more • The challenge effort has gone into developing automated system to improve productivity than has gone into the appropriate matching of people and technology. • The versatility of the robots used in all the applications is important, as in
applying applying that capability capability efficiently efficiently.. Future application of robots rob ots have been explored, and critical areas have been analyzed.
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Bibliography [1] I. Cos-Aguilera, Cos-Aguilera, L. Canamero, and G. Hayes. Hayes. ”Using a sofm to learn object affordances”. Proceedings of the 5th Workshop of Physical Agents(WAF), Girona, Catalonia, Spain, 2004 [2] T. Kohonen. ”Self-organizi ”Self-organizing ng maps” (1997) Springer Series in Information Sciences; Vol. 30, p. 426. [3] M. Kristan, Kristan, J. Pers, M. Perse, Perse, and S. Kovaci Kovacic. c. ”Towards fast and efficient methods for tracking players in sports” in Proceedings of the ECCV Workshop on Computer Vision Based Analysis in Sport Environments, May 2006, pp. 1425 [4] B.L.Thereza B.L.Thereza Electrical Machines (9th Edition) Dhanpat Rai & Sons (2005). [5] [5] M. Lopes Lopes and J. San Santo toss-Vi Victo ctorr ”Visua ”Visuall learn learning ing by imitatio imitation n with with motor motor representations” IEEE Transa ransacti ction onss on Syst Systems ems,, Man, Man, and Cybern Cyberneti etics cs PartB: Cybernetics, vol. 35, no. 3, 2005
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