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Wireless Pick N Place Robot

This document summarizes a wireless pick and place robot controlled remotely via radio frequency signals. The robotic arm has five motors that allow for circular rotation of the hand and grip, vertical movement of the hand, and opening/closing of the gripper. An ASK transmitter encodes and sends control signals that are received by an 89C51 microcontroller via an ASK receiver. The microcontroller controls the motors to execute the desired motion based on the received command code. This allows a user to remotely control the robotic arm motions from up to 100 meters away without wires.

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gauravchau
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109 views4 pages

Wireless Pick N Place Robot

This document summarizes a wireless pick and place robot controlled remotely via radio frequency signals. The robotic arm has five motors that allow for circular rotation of the hand and grip, vertical movement of the hand, and opening/closing of the gripper. An ASK transmitter encodes and sends control signals that are received by an 89C51 microcontroller via an ASK receiver. The microcontroller controls the motors to execute the desired motion based on the received command code. This allows a user to remotely control the robotic arm motions from up to 100 meters away without wires.

Uploaded by

gauravchau
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Wireless Pick n Place Robot 

  
Abstract
Mechanical structure of Robotic
This is the most advance version Arm
of “Pick n Place Robot” perhaps and The figure given below shows
most popular and widely used in recent complete outer structure of robotic
industries. A person from a remote place arm. The complete body is made up
can comfortably control the motion of of wood. All the motions are
robotic arm without any wire perfectly calibrated and controlled.
connection. The complete size with all
dimensions are as indicated.
Again there are two systems one at the
There are various motions in this
transmitter side. These signals are
arm
encoded and transmitted by RF
 Circular motion of hand: - the
transmitter chip. At another end RF
arm can rotate complete in
receiver chip will demodulate these
360o circle with the help of ¼
signals and decoder will decode it.
HP, 0.2 A, 230 V bidirectional
Finally 89C51 will take desired
AC motor (ACM1) which has
controlling action on robotic arm.   
maximum of 5 RPM at rated
This one is similar kind of project as 230 VAC
pick n place robot but there are two  Vertical motion of hand: -the
major changes hand can move down lower
1)     The mechanical structure is then 0o up to -30o to maximum
wirelessly controlled from a up to 90o. This motion is
remote divided in two parts. Lower
2)     The mechanical structure a hand and upper hand. The
robotic arm is actually working lower hand moves up and down
instrument in industries not due to ¼ HP, 0.2 A, 230 V
just simple project bidirectional AC motor (ACM2)
Here a man from a remote place of which has maximum of 5 RPM
around 50-100 mts range sitting on at rated 230 VAC. The upper
his chair with his remote can easily hand is moved by 6 V DC gear
control the mechanism An ASK motor (DCM2)
transmitter attached transmits the  Circular motion of grip: - the
controlling codes. These codes are grip can freely rotate in either
received by ASK receiver, decoded direction in complete 360o
and given to 89C51 which then circle due to 5 VDC bipolar
controls the motion of robotic arm. stepper motor with 18o step
So as per user command the motion resolution.
of robotic arm is controlled from a  Opening closing of grip:-the
remote place without any wireless. maximum opening of grip is 5
cm and minimum is 0.5 cm.
The same type of 6 VDC gear
Let us first start with mechanism
motor (DCM1) is utilize for this 03h : rotate grip
motion.   clockwise
So for all the motions we have one 04h : rotate grip
motor total of five motors. All five anticlockwise
motors provides full flexibility to 05h : move lower hand
mechanism so that it can pick and upward
place an object vary easily. 06h : move lower hand
Now we shall start with controlling downward
of this mechanism. There are two 07h : move upper hand
parts upward
1)     ASK transmitter: - Again there 08h : move upper hand
are two systems one at the downward
transmitter side. These signals are * “h” indicates all the codes are in
encoded and transmitted by RF hex format. 
transmitter chip
2)     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. 
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
Here are the codes that triggers one data pins D0-D3 of connector are
particular motion1` 211Q connected with data pins of encoder
01h* : rotate hand chip (HT12E). The D4 pin connected
clockwise with transmission enable (TE) pin of
02h : rotate hand encoder chip. The output of encoder
anticlockwise chip is given as input to 434 mhz
ASK transmitter that will modulate more details of this circuit click
the data with carrier signal and here.
transmit it via suitable antenna. As Internal blocks of receiver are also
there are four bits we can send indicated in corner. The main parts
maximum 16 different codes are 434 mhz ASK receiver, decoder
through this transmitter that’s why chip (HT12D) and micro-controller
it is 16 channel ASK transmitter. 89C51. The ASK receiver will
89C51 based ASK receiver: - demodulate the signal and give
The figure given below shows the encoded data to decoder. Decoder
circuit diagram of receiver 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 main blocks of receiver the five motors. It performs eight
are 89C51 based ASK receiver, different functions as told by
current driver chip ULN and bipolar transmitter on getting eight
stepper motor driver. different codes. It has eight
ULN chip is used to energize 8 relays subroutines for these functions.
which turn ON or OFF all four Each code when received and
motors (2 AC and 2 DC motors) and decoded will call one particular
also change its direction. There are subroutine. When subroutine is
8 relays out of them 4 are single executed the program again waits
change over (c/o) and other 4 are for next user command. At a time
two change over. To start or stop we can send only one command so
the motor and also change its only one motion is triggered at a
direction one single c/o and one two time.
c/o relay are needed. The
connection is done such a way that Working operation: -
when single c/o relay is energized it  On pressing any of command
will start the motor and when de- buttons from computer
energized stops the motor. Second 2 program will send one of the
c/o relay changes the direction as it codes to LPT port. For example
changes over from one to other code 02h is sent to rotate hand
position. Thus each motor needs two anticlockwise
relays one for start and stop and  The ASK transmitter attached
second for direction change. to LPT will transmit the code
The standard H-bridge circuit is used over 434 mhz carrier
in bipolar stepper motor driver. For
 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 o
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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