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Term Paper

Course Instructor:- Ashish KG Sharan Course Code:- MEC 302

Topic:- Pick And Place Robot Mechanism

Made By :- Bedanta Borah Regd. No :- 11009459 Section :- M2R09 Roll No :- B51

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Acknowledgement

I would like to express my gratitude to all those who gave me the possibility to complete this term paper. I would like to thank my material science teacher Sir Ashish Sharan for giving me the opportunity to do a term paper on the topic Pick & Place Robot Mechanism. The internet services helps me a lot to complete my term paper and to know about the topic. So I am very grateful to all who helped me to complete my term paper.

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Contents 1. Abstract......................................................................Page 4 2. Introduction................................................................Page 4 3. History........................................................................Page 4 3.1. Ancient Beginnings...........................................Page 4 3.2. Early Modern Developments...........................Page 5 3.3. Modern Developments.....................................Page 6 4. What is pick and place robot ?..................................Page 6 5. Mechanical Structure.................................................Page 6 6. Circuit Working ..........................................................Page 7 7. Applications................................................................Page 8 8. Types of pick & place robot.......................................Page 9 8.1. Mobile Robot.....................................................Page 9 8.2. Industrial Robot.................................................Page 9 8.3. Service Robot....................................................Page 9 8.4. Modular Robot...................................................Page 9 9. Its Mechanism.............................................................Page 9 10. Conclusion.................................................................Page 10 11. Reference..................................................................Page 11

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1. 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.

2. Introduction A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semiautonomous or remotely controlled. The word robot first appeared in the play Rossum's Universal Robots by the Czech writer Karel apek in 1920. Complex mechanisms and automata date back to ancient Egypt and were experimented with by varying thinkers over the centuries including Leonardo Da Vinci,Jacques de Vaucanson, and the Japanese Karakuri zui (Illustrated Machinery) in 1796. The 19th and early 20th century saw the development of remote and radio-controlled devices and even machines that tried to mimic more human-like features. A humanoid robot moved (of slowly) and spoke on display for crowds at the General Electric pavilion for 1939 New York World's fair. The first electronic autonomous robots were created by William Grey Walter in Bristol, England, in 1948. The first digital and programmable robot was invented by George Devol in 1954. Robots are used in an increasingly wide variety of tasks such as vacuuming floors, mowing lawns, cleaning drains, building cars, in warfare, and in tasks that are too expensive or too dangerous to be performed by humans such as exploring outer space or at the bottom of the sea. Robots range from humanoids such as ASIMO and TOPIO to Nano robots, Swarm robots, Industrial robots, military robots, mobile and servicing robots. The branch of technology that deals with robots is robotics.

3. History The idea of automata originates in the mythologies of many cultures around the world. Engineers and inventors from ancient civilizations, including Ancient China, Ancient Greece, and Ptolemaic Egypt, attempted to build self-operating machines, some resembling animals and humans. Early descriptions of automat a include the artificial doves of Archytas, the artificial birds of Mozi and Lu Ban, a "speaking" automaton by Hero of Alexandria, a washstand automaton by Philo of Byzantium, a nd a human automaton described in the Lie Zi.

3.1. Ancient beginnings

Many ancient mythologies include artificial people, such as the mechanical servants built by the Greek god Hephaestus (Vulcan to the Romans), the clay golems of Jewish legend and clay giants of Norse legend, and Galatea, the mythical statue of Pygmalion that came to life.

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Since cerca 400 BCE, myths of Crete that were incorporated into Greek mythology include Talos, a man of bronze who guarded the Cretian island of Europa from pirates. In ancient Greece, the Greek engineer Ctesibius (c. 270 BC) "applied a knowledge of pneumatics and hydraulics to produce the first organ and water clocks with moving figures". In the 4th century BC, the Greek mathematician Archytas of Tarentum postulated a mechanical steam-operated bird he called "The Pigeon". Hero of Alexandria (1070 AD), a Greek mathematician and inventor, created numerous user-configurable automated devices, and described machines powered by air pressure, steam and water. In ancient China, the 3rd century BC text of the Lie Zi describes an account of humanoid automata, involving a much earlier encounter between King Mu of Zhou (Chinese emperor 10th century BC) and a mechanical engineer known as Yan Shi, an 'artificer'. The latter proudly presented the king with a life-size, human-shaped figure of his mechanical 'handiwork' made of leather, wood, and artificial organs. There are also accounts of flying automata in the Han Fei Zi and other texts, which attributes the 5th century BC Mohist philosopher Mozi and his contemporary Lu Ban with the invention of artificial wooden birds (ma yuan) that could successfully fly. In 1066, the Chinese inventor Su Song built a water clock in the form of a tower which featured mechanical figurines which chimed the hours. The beginning of automata is associated with the invention of early Su Song's astronomical clock tower featured mechanical figurines that chimed the hours. In the medieval Islamic world, Al-Jazari (11361206), a Muslim inventor during the Artuqid dynasty, designed and constructed a number of automated machines, including kitchen appliances, musical automata powered by water, and programmable automata. The autmomata appeared as four musicians on a boat in a lake, entertaining guests at royal drinking parties. His mechanism had a programmable drum machine with pegs (cams) that bumped into little levers that operated percussion instruments. The drummer could be made to play different rhythms and different drum patterns by moving the pegs to different locations.

Early modern developments

In Renaissance Italy, Leonardo da Vinci (14521519) sketched plans for a humanoid robot around 1495. Da Vinci's notebooks, rediscovered in the 1950s, contained detailed drawings of a mechanical knight now known as Leonardo's robot, able to sit up, wave its arms and move its head and jaw. The design was probably based on anatomical research recorded in his Vitruvian Man. It is not known whether he attempted to build it. In Japan, complex animal and human automata were built between the 17th to 19th centuries, with many described in the 18th century Karakuri zui (Illustrated Machinery, 1796). One such automaton was the karakuri ningy, a mechanized puppet. Different variations of the karakuri existed: the Butai karakuri, which were used in theatre, the Zashiki karakuri, which were small and used in homes, and the Dashi karakuri which were used in religious festivals, where the puppets were used to perform reenactments of traditional myths and legends.

In France, between 1738 and 1739, Jacques de Vaucanson exhibited several life-sized automatons: a flute player, a pipe player and a duck. The mechanical duck could flap its wings, crane its neck, and swallow food from the exhibitor's hand, and it gave the illusion of digesting its food by excreting matter stored in a hidden compartment.

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Modern developments
The Japanese craftsman Hisashige Tanaka (17991881), known as "Japan's Edison" or "Karakuri Giemon", created an array of extremely complex mechanical toys, some of which served tea, fired arrows drawn from a quiver, and even painted a Japanese kanji character. A remotely operated vehicles were demonstrated in the late 19th in the form of several types of remotely controlled torpedos. The early 1870's saw remotely controlled torpedos by John Ericsson(pneumatic), John Louis Lay (electric wire guided), and Victor von Scheliha (electric wire guided). In 1898 Nikola Tesla publicly demonstrated a "wireless" radio-controlled torpedo that he hoped sell to the US Navy. In 1926, Westinghouse Electric Corporation created Televox, the first robot put to useful work. They followed Televox with a number of other simple robots, including one called Rastus, made in the crude image of a black man. In the 1930s, they created a humanoid robot known as Elektro for exhibition purposes, including the 1939 and 1940 World's Fairs. In 1928, Japan's first robot,Gakutensoku, was designed and constructed by biologist Makoto Nishimura. The first electronic autonomous robots with complex behaviour were created by William Grey Walter of the Burden Neurological Institute at Bristol, England in 1948 and 1949. They were named Elmerand Elsie. These robots could sense light and contact with external objects, and use these stimuli to navigate. The first truly modern robot, digitally operated and programmable, was invented by George Devol in 1954 and was ultimately called the Unimate. Devol sold the first Unimate to General Motors in 1960, and it was installed in 1961 in a plant in Trenton, New Jersey to lift hot pieces of metal from a die casting machine and stack them. Devols patent for the first digitally operated programmable robotic arm represents the foundation of the modern robotics industry. Commercial and industrial robots are now in widespread use performing jobs more cheaply or with greater accuracy and reliability than humans. They are also employed for jobs which are too dirty, dangerous or dull to be suitable for humans. Robots are widely used in manufacturing, assembly and packing, transport, earth and space exploration, surgery, weaponry, laboratory research, and mass production of consumer and industrial goods.

4. What is pick and place robot?

A simple robot, often with only two or three degrees of freedon and little or no trajectory control, whose sole function is to transfer items from one place to another.

5. Mechanical Structure The figure given below shows complete outer structure of robotic arm. The complete body is made up of solid steel. All the motions are perfectly calibrated and controlled. The complete size with all dimensions are as indicated.

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There are various motions in this arm Circular motion of hand: - the arm can rotate complete in 360 circle with the help of HP, 0.2 A, 230 V bidirectional AC motor (ACM1) which has maximum of 5 RPM at rated 230 VAC Vertical motion of hand: -the hand can move down lower then 0 up to -30 to maximum up to 90 . This motion is divided in two parts. Lower hand and upper hand. The lower hand moves up and down due to HP, 0.2 A, 230 V bidirectional AC motor (ACM2) which has maximum of 5 RPM at rated 230 VAC. The upper hand is moved by 6 V DCgear motor (DCM2) Circular motion of grip: - the grip can freely rotate in either direction in complete 360 circle due to 5 VDC bipolar stepper motor with 18 step resolution. Opening closing of grip:-the maximum opening of grip is 5 cm and minimum is 0.5 cm. the same type of 6 VDC gear motor (DCM1) is utilize for this motion. So for all the motions we have one motor total of five motors. All five motors provides full flexibility to mechanism so that it can pick and place an object vary easily.
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6. 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

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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. 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.

7.Applications1.Materials Handling 2.Industrial Robot applications 3.Debarring 4.Welding 5.Handling 6.Trimming and Sealing 7.Spraying and palletizing

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8. Types Of Pick & Place Robot Mobile robot

Mobile robots have the capability to move around in their environment and are not fixed to one physical location. An example of a mobile robot that is in common use today is the automated guided vehicle or automatic guided vehicle (AGV). An AGV is a mobile robot that follows markers or wires in the floor, or uses vision or lasers. AGVs are discussed later in this article. Mobile robots are also found in industry, military and security environments. They also appear as consumer products, for entertainment or to perform certain tasks like vacuum cleaning. Mobile robots are the focus of a great deal of current research and almost every major university has one or more labs that focus on mobile robot research. Modern robots are usually used in tightly controlled environments such as on assembly lines because they have difficulty responding to unexpected interference. Because of this most humans rarely encounter robots. However domestic robots for cleaning and maintenance are increasingly common in and around homes in developed countries. Robots can also be found in military applications.

Industrial robots (manipulating)

Industrial robots usually consist of a jointed arm (multi-linked manipulator) and an end effector that is attached to a fixed surface. One of the most common type of end effector is a gripper assembly. The International Organization for Standardization gives a definition of a manipulating industrial robot in ISO 8373: "an automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications." This definition is used by the International Federation of Robotics, the European Robotics Research Network (EURON) and many national standards committees.

Service robot
Most commonly industrial robots are fixed robotic arms and manipulators used primarily for production and distribution of goods. The term "service robot" is less well-defined. IFR has proposed a tentative definition, "A service robot is a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations."

Modular robot
Modular robots is a new breed of robots that are designed to increase the utilization of the robots by modularizing the robots. The functionality and effectiveness of a modular robot is easier to increase compared to conventional robots.

9. Its Mechanism Now we shall start with controlling of this mechanism. There are two parts 1) 2) Computerize ASK transmitter: - this is a small hardware attached to LPT port of computer which transmits the action codes given by a software program prepared in VC++. 89C51 based ASK receiver: - it consist of ASK receiver, decoder and micro controller 89C51. It controls all the motions of robotic arm by controlling all five motors depending upon the command given by user.

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Computerize ASK transmitter: This part is further divided in to two parts (1) software and (2) hardware Software Part: - the figure given below shows application design.

Hardware Part: -the block diagram of this part is as shown in figure.

As shown in figure a 16 channel ASK transmitter is connected with 25 pin D-type male/female connector. The data pins D0-D3 of connector are connected with data pins of encoder chip (HT12E). The D4 pin connected with transmission enable (TE) pin of encoder chip. The output of encoder chip is given as input to 434 MHz ASK transmitter that will modulate the data with carrier signal and

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transmit it via suitable antenna. As there are four bits we can send maximum 16 different codes through this transmitter thats why it is 16 channel ASK transmitter. 89C51 based ASK receiver: The figure given below shows the circuit diagram of receiver

The main blocks of receiver are 89C51 based ASK receiver, current driver chip ULN and bipolar stepper motor driver. ULN chip is used to energize 8 relays which turn ON or OFF all four motors (2 AC and 2 DC motors) and also change its direction. There are 8 relays out of them 4 are single change over (c/o) and other 4 are two change over. To start or stop the motor and also change its direction one single c/o and one two c/o relay are needed. The connection is done such a way that when single c/o relay is energized it will start the motor and when de-energized stops the motor. Second 2 c/o relay changes the direction as it changes over from one to other position. Thus each motor needs two relays one for start and stop and second for direction change. The standard H-bridge circuit is used in bipolar stepper motor driver. For more details of this circuit click here.

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Internal blocks of receiver are also indicated in corner. The main parts are 434 MHz ASK receiver, decoder chip (HT12D) and micro-controller 89C51. The ASK receiver will demodulate the signal and give encoded data to decoder. Decoder will decode it and gives to 89C51. The port P0 of 89C51 is used to control stepper motor through driver and port P2 is used to control other four motor through ULN chip. All eight pins of P2 drives one relay thorough ULN chip. The heart of whole circuit is 89C51 as it handles all the functions like getting code from decoder, compare them with stored codes, control the motion of hand by triggering any of the five motors. It performs eight different functions as told by transmitter on getting eight different codes. It has eight subroutines for these functions. Each code when received and decoded will call one particular subroutine. When subroutine is executed the program again waits for next user command. At a time we can send only one command so only one motion is triggered at a time. Working operation: On pressing any of command buttons from computer program will send one of the codes to LPT port. For example code 02h is sent to rotate hand anticlockwise The ASK transmitter attached to LPT will transmit the code over 434 MHz carrier On receiver side ASK receiver demodulate the code and give to decoder chip The decoded code is given to 89C51. It will compare this code with stored codes and when match found it will energize RL1 and RL2 both to rotate ACM1 anticlockwise so that hand will rotate anticlockwise. The controller will exactly move hand to 30 and then stops it. Now controller will wait for next command Again when next command button is pressed same process repeats
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11.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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12. References 1) http://www.answers.com/topic/pick-and-place-robot 2) http://encyclopedia2.thefreedictionary.com/pick-and-place+robot 3) http://www.thefabricator.com/glossary/pick-and-place-robot 4) http://www.authorstream.com/Presentation/aSGuest13719-155720-robotentertainment-ppt-powerpoint/ 5) http://wiki.answers.com/Q/What_is_the_mechanism_of_pick_and_place_robot 6) http://multyremotes.com/wireless-pick-and-place-robot.htm 7) http://en.wikipedia.org/wiki/Robot#Modern_robots

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