MICROCONTROLLER BASED PICK AND PLACE ROBOT ABSTRACT In this highly developing society; time and man power

are critical constrains fo r completion of task in large scales. the automation is playing important role t o save human efforts in most of the regular and frequently carried works e.g. mo st of the industrial jobs like welding, painting, assembly, container filling et c. one of the major and most commonly performed work is picking and placing of j obs 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 dete cts the object, picks that object from source location and places at desired loc ation. 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 plac e it on destination. If another object causes interrupt, it again does the same job. Whole process is controlled by micro controller. DESIGN SPECIFICATIONS: ADC Interface ---- 4 channels (expandable) to detect object position. Supply Voltage ---- 230V (AC). 8 bit microcontroller P89V51RD2. Motor interface 3 motors : 2 motors in parallel. MECHANICAL DESIGN: This pick and place robot has two main mechanical components: A] Robotic arm and end-effectors. B] Gantry for moving the arm. OPERATION OF ROBOT: 1. Initially we will assume the rest 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 se nsor can receive photons from transmitter as no object I in its path to interrup t. 3. As soon as object is placed at the picking platform, the sensor gets interrup ted and outputs low. This signal is sent to the microcontroller which is burnt w ith 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 sa y clockwise direction for a fixed time due to which whole arm moves towards pick ing platform. 6. As it reaches there, M1 stops and now motor M2 is started in say clockwise di rection 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) dire ction till the time it reaches the placing platform. 8. As it reaches placing platform, the motor M1 stops and M2 is switched ON in o pposite (here anticlockwise) direction till it releases object properly on desir ed 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.