CHAPTER 1

THE PROBLEM AND ITS SCOPE

1.1 Introduction

Industrial automation has offered higher levels of productivity, efficiency,

and quality as well as reduction to cost on the industry. In most Industries, the

path towards increased productivity is through increased automation process and

control. Automating using robot systems will increase productivity, efficiency and

quality control. During operation, robots can be controlled to accommodate more

work, and even operate beyond working hours.

With the advent of robotics, laborious and time consuming works in

industrial plant and factories have made ease for workers to complete the

operation. These workers are assigned to manipulate, to control these robots

instead of requiring them to carry the task by themselves. This control is made

easy with the use of Programmable Logic Controller (PLC). The PLC is now used

in every modern production processes to automatically control every aspect of

the operation without human intervention.

At times, we cannot avoid that the workers get tired and exhausted during

working hours causing it to decrease in the production line. This is the reason

why robotics arises in industrial automation processes today. Other countries,

where robots are extremely used, have improved quality of life and enjoyed

higher standard of living.

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Automation is achieved through automatic system that is able to control

processes without human intervention. This system must have the capability to

start, regulate, and stop a process in accordance to the measured variables in

order to obtain the desired output. This system is called Control System

(Industrial Electronics, 7th edition by Timothy Maloney, 1986). Control systems

are categories in two controlling types, the closed-loop system and an open-loop

system. Closed-loop system is a control system with a feedback loop that is

active. In the closed-loop control system, a position sensor continuously monitors

the position and the actuating movement of the robot, where continuously altered

the movement to conform the desired path in both direction and velocity. Open-

loop system is a control system that does not use feedback loop to determine if

its input has achieved the desired purpose. The open-loop control system has a

position and rate-of-change sensors on every movement. Thus, the controller

cannot correct any error and cannot compensate the disturbance in the system.

This study aims to develop a robotic arm utilizing an electro-pneumatic

robotic pick and place system that mimic programmable logic controller or PLC.

This type of robot falls under closed-loop control system. Electro-pneumatic

robotic arm pick and place is being powered by compressed air and controlled by

a programmed or machine language. This robotic arm is composed of pneumatic

cylinders performing linear and rotational motion; control valves that allow

compressed air flows; and sensor technology that is capable to detect the object

being picked. The use of pneumatics for robotics arm is much cheaper than

using servo motors.

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1.2 Statement of the Problem

In as much as we desire to expose ourselves to a more realistic world of

industrial automation and robotics, there is a lack of the laboratory equipment

and facilities in this field. One way to expose ourselves as a student is to come

up with a typical designed robotic arm pick and place system which is easy to

assemble, low cost, and maximizing our learning in the field of industrial

automation and robotics. Generally, this project will endeavor to provide and

serve as a laboratory trainer for students and can be used as instructional

materials for the Mechanical Engineering, Electronics and Communication

Engineering, Computer Studies and other related course in this institution. This

project also enhances our capability in programming robotic application and gain

more knowledge in the actual field of study.

Specifically, it seeks to answer the following questions:

1. How can a robotic arm pick and place system be assembled?

2. What is the relationship between Electro-pneumatic components and

PLC?

3. What function will the PLC perform in the automation program?

1.3 Objectives of the Project

This project aims to attain the following objectives:

 To build a proto-type robotic arm pick and place system.

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 To verify the relationship between Electro-pneumatic components and

PLC.

 To come with a program having proper motion sequence of the system

using Programmable Logic Controller (PLC).

1.4 Significance of the Project

Developing the robotic arm with desired control system would answer the

call to expose ourselves in industrial automation and hereby giving us the

opportunity to be at pace with the latest thrust of the industry.

This project can also provide the Capitol University an opportunity to jump

start similar project concept that could be used for instruction purposes, and to

enhance learning across academic disciplines in the field of engineering and

technology. Through this project, it can give new challenges to our academic

instructors to improve their instruction delivery; explore other methods of learning

to alleviate the status of the University; thereby, giving the potential graduates of

Capitol University an equal footing against other graduates.

1.5 Scope and Limitation of the Project

This robotic arm pick and place system will contain electro-pneumatic

valves, pneumatic cylinders, proximity sensors, rotary cylinder, sensor

technology, pressure line tubes, mild steel grippers, acrylic plastic glass, wood

table top and other aluminum accessories.

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The discussion herein shall be limited on the operational aspect of the

PLC controlling the robotic arm movement, sorting, and sensing of metallic and

plastic material. This may in times, involve topics on mathematical approaches

but will not go in detail.

1.6 Conceptual Framework

Loading Station:
Metal and plastic
Material

Testing Station:
Metal and plastic Sensor Technology
Detection

Processing
Programmable
Station:
Robotic
Logic Arm
Controller

Sorting Station:
Metal and plastic
sorted

Figure 1.6.1 Schematic diagram showing the conceptual framework of the robotic

arm pick and place system.

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The figure 1.6.1 shows the basic flows of the robotic arm pick and place

system. The loading station delivers the metal and plastic material. As it passes

through the testing station, the material is detected by a sensor. The processing

station is responsible to interpret the data in a programmable logic controller

PLC. The result of this output from the processing station will be fed the sorting

station. The sorting station will separate the metal and plastic material. The

system will repeat its process.

1.7 Flow Chart of the Project

( Chart diri ha, delete nako pagprint to save ink)

Figure 1.7.1 Chart showing the flow of the robotic arm pick and place

system.

The robotic arm pick and place system follows the typical chart flow of this

project. The project design includes how the system will work, the estimated cost

of the materials, fabrication of the robotic arm, assembly of the project, testing of

the robotic arm, data gathering and data analysis.

1.8 Definition of Terms

To facilitate easily understanding of the contents and discussion of the

study, the following terms are defined operationally:

Closed-loop – uses feedback to control states or outputs of a dynamical system.

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Control system – is a device or set of devices to manage, command, direct or

regulate the behavior of other devices or systems.

Directional valve – are used to move actuators into various positions.

Industrial automation – is the use of control systems such as computers to

control industrial machinery and processes, replacing human operators. In the

scope of industrialization, it is a step beyond mechanization.

Open-loop controller – also called a non-feedback controller, is a type of

controller which computes its input into a system using only the current state and

its model of the system.

Pneumatic controlled valve – is a controlled valve that used pneumatic or air to

open.

Pneumatic gripper – is a specific type of pneumatic actuator that typically

involves either parallel or angular motion of surfaces that will grip an object.

Programmable logic controller (PLC) – is a digital computer used for automation

of industrial processes, such as control of machinery on factory assembly lines.

Robot – is a mechanical or virtual, artificial agent. It is usually an

electromechanical system, which, by its appearance or movements, conveys a

sense that it has intent or agency of its own.

Sensor – is a device that measures a physical quantity and converts it into a

signal which can be read by an observer or by an instrument.

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CHAPTER 2

REVIEW OF RELATED LITERATURE

This chapter presents the review of related literatures that provide the

necessary baseline information related to the importance of the study.

2.1 Brief History of Robots

The concept of robotics dates back to the Ancient Greeks at least. Greek

mythology had at least one instance of robots, as the mechanical servants of the

Greek god of technology, fire, and the forge, Hephaestus. In another Greek myth,

Pygmalion, a master sculptor from Cyprus, crafts a statue named Galatea that

comes to life. Around 350 BC, a brilliant Greek mathematician, Archytas, built a

mechanical bird, "the Pigeon," that could fly through the air on steam power. This

is one of the first known milestones in robotics, as well as the first recorded

model airplane.

Many centuries later, in the late 1700s and early 1800s, the Industrial

Revolution hit. This was fueled by steam power and extensive automation,

especially in the production of textiles. The automated loom, invented in 1801,

operated using punched card input. A couple decades later, in 1822, Charles

Babbage introduced a prototype of his "Difference Engine" to the Royal

Astronomical Society in Britain. Inspired by the automated loom, this machine

also operated based on punch cards, but Babbage died before a production

model could be built. Today, Babbage is known as the "Father of Computing,"

and all robots use computers for their "brains."

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The modern era of robotics begins around 1959, when John McCarthy and

Marvin Minsky established the Artificial Intelligence lab at MIT. A couple years

later, Heinrich Erst created the first modern robotic hand, and in 1962, Unimate,

the first industrial robot, was created to perform repetitive or dangerous tasks on

the assembly line of General Motors. In 1966, the Stanford Research Institute

created Shakey, the first mobile robot to know and react to its own actions. In

1967, Richard Greenblatt wrote MacHack, the first chess-playing program, in

reaction to an article by Herbert Dreyfuss that argued that a computer would

never beat him at chess.

The next few decades saw additional developments in robotics. Stanford

University built the Stanford cart, an intelligent line-follower, in 1970, and in 1974

Victor Scheinman created the Silver Arm, a robotic arm capable of assembling

machines from small parts using touch sensors. Further advances in robotics

occurred in 1977, when NASA launched the highly automated Voyager probes to

explore the outer solar system.

The cutting edge of robotics continued to refine the speed and precision of

robotic manipulators while creating prototypes of humanoid robots. In 1986,

Honda started a humanoid robotics program, being represented by the prototype

ASIMO, which had 11 versions from 1986 through 2008. In 2008, the robot had

advanced to the point of being able to follow along with a human by holding

hands, recognize its environment, distinguish sounds, and observe moving

objects.
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2.2 PLC Overview

2.2.1 Basic PLC Operation

The basic elements of a PLC include input modules or points, a central

processing unit (CPU), output modules or points, and a programming device. The

type of input modules or points used by a PLC depends upon the types of input

devices used. Some input modules or points respond to digital inputs, also called

discrete inputs, which are either on or off. Other modules or inputs respond to

analog signals. These analog signals represent machine or process conditions

as a range of voltage or current values. The primary function of a PLC’s input

circuitry is to convert the signals provided by these various switches and sensors

into logic signals that can be used by the CPU.

The CPU evaluates the status of inputs, outputs, and other variables as it

executes a stored program. The CPU then sends signals to update the status of

outputs.

Output modules convert control signals from the CPU into digital or analog

values that can be used to control various output devices.

The programming device is used to enter or change the PLC’s program or to

monitor or change stored values. Once entered, the program and associated

variables are stored in the CPU. In addition to these basic elements, a PLC

system may also incorporate an operator interface device to simplify monitoring

of the machine or process.

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2.2.2 Hard-Wired Control

Prior to PLC’s, many control tasks were performed by contactors, control

relays, and other electromechanical devices. This is often referred to as hard-

wired control. Circuit diagrams had to be designed, electrical components were

to be specified and installed, and wiring lists had to be created. Electricians

would then wire the components necessary to perform a specific task. If an error

was made, the wires had to be reconnected correctly. A change in function or

system expansion required extensive component changes and rewiring.

2.2.3 Advantages of PLC’s

PLC’s not only are capable of performing the same tasks as hard-wired

control, but are also capable of many more complex applications. In addition, the

PLC program and electronic communication lines replace much of the

interconnecting wires required by hard-wired control. Therefore, hard-wiring,

though still required to connect field devices, is less intensive. This also makes

correcting errors and modifying the application easier.

Some of the additional advantages of PLC’s are as follows:

• Smaller physical size than hard-wire solutions.

• Easier and faster to make changes.

• PLC’s have integrated diagnostics and override functions.

• Diagnostics are centrally available.

• Applications can be immediately documented.

• Applications can be duplicated faster and less expensively.

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2.3 Sensor Technology

One type of feedback frequently needed by industrial-control systems is

the position of one or more components of the operation being controlled.

Sensors are devices used to provide information on the presence or absence of

an object.

Sensors include limit switches, photoelectric, inductive, capacitive, and

ultrasonic sensors. These products are packaged in various configurations to

meet virtually any requirement found in commercial and industrial applications.

Each type of sensor will be discussed in detail. At the end of the course an

application guide is provided to help determine the right sensor for a given

application.

2.4 Industrial Robots

Rongo and Saunders (2000) designed a removable robotic sensor

assembly. Removable robotic sensor assembly is removable coupled to a robotic

arm having a work tool secured thereto. The removable robotic sensor assembly

includes a sensor for obtaining data from a work piece. The removable robot

sensor assembly further includes a gripper assembly coupled to the sensor. The

gripper assembly operates to alternately couple and decouple from at least one

of the work tool and the robotic arm when said work tool is secured to the robotic

arm. The gripper assembly and said sensor form a sensor assembly.

Gurevich and Grigg (2001) introduced a manufacturing system that

provided for automatic assembly, testing and packaging of a variety of products

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named modular robotic device and manufacturing system. The system is

provided for automatic assembly, testing and/or packaging of a variety of

products. The system is based on utilization of one or more robotic modules,

each having a programmable servo-driven linear actuator of a rod type,

combined with slides, and standardized extrusions that form guide rails and a

frame to support the actuators. The standardized extrusions include a plurality of

faces, with a groove formed in at least one of the faces. Each slide fits in one of

the grooves and is attached to the actuator rod, which moves the slide along the

guide rails. The guide rails provide structural support to the slides in every

direction that a load is attached to the slides, and include grooves to direct the

motion of the slides. Two or more such robotic modules, each being positioned in

a Cartesian coordinate relationship to one another, complete a system. Each

module houses a dedicated controller that operates its respective actuator. The

dedicated controller, in turn, connects to a remote computer or industrial

controller such that a programmed sequence for robotic motion can be provided

by the computer to control movement in the system in all three Cartesian

directions.

Yanagita, Tao, Chang, Wong, McGee, Tsai, Cheng, Nickel, and Akeel

(2006) introduced Robot multi-arm control system. A robot multi-arm control

system includes robot controllers that communicate via a network to transmit

synchronization information from a master controller to one or more slave

controllers in order to coordinate manufacturing processes. The system accounts

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for the network communication delay when synchronizing the event timing for

process and motion synchronization.

Gilmore and Ernst (2008) introduced robotic packaging device. An end of

arm tool that is capable of handling fragile items such as eggs that are packed in

containers (e.g., egg carton) that require special handling is provided. The end of

arm tool comprises vacuum cup assemblies to grip the top surfaces of the

packages, clamp fingers to clamp the edges of the packages, and optionally a

pusher assembly to release the packages from the clamp fingers. In addition, a

method of loading packages into cases using the end of arm tool apparatus of

the present invention is provided. A gripper may be provided to place divider

sheets between packages in the cases.

Lin (2008) designed board game system utilizing a robot arm. A board

game system comprises a touch screen, a computing device and a robot arm.

The computing device comprises a processor and a memory. At least one type of

board game program is stored in the memory so that the processor can execute

the board game program and present a corresponding board game interface on

the touch screen. The robot arm controlled by the computing device can touch

the touch screen and play the board game with a user.

2.5 Modern Application of Robots

Bomb disposal robot makes a dangerous job a little less hazardous.

They're designed to search for, locate and neutralize explosive devices.

One of the main advantages of robots is their ability to operate in

environments that are hazardous or deadly to humans. American scientists

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developed Pioneer in response to the disaster at the Chernobyl Nuclear Power

Station. This robot was designed to withstand large doses of radiation and is

capable of clearing debris.

Biologically Inspired ("biomimetic") Autonomous underwater robots based

on the lobster and the lamprey (an eel-like jawless vertebrate).

Officially known as the Shuttle Remote Manipulator System (SRMS),

Canadarm is an analogue of the human arm, with nerves of copper wiring, bones

of graphite fiber and electric motors in place of muscles. Like its human

counterpart, it has various rotating joints, two at the shoulder, and one at the

elbow and three at the wrist.

K9, a robot dog, was the long term assistant of Dr WHO (played at the

time by Tom Baker) - one of the most popular of his traveling companions.

Although he looked rather harmless, K9 did come equipped with a weapon that

came out of his 'nose'.

In 1997 Honda produced a robot that was more human-like than any

other. Honda's aim was to produce a two-legged robot with the ability to be totally

mobile in everyday environments. The P3 can walk around, climb stairs, carry

things, pick things up and push things. Its camera-based 'eyes' help it to position

itself accurately in its environment and stay balanced when walking or even

climbing stairs.

The technology used for the P3 was incorporated into Honda's dancing

robot ASIMO, the latest in the range. Its ability to move has been increased and a

new portable controller makes it much easier to operate.

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CHAPTER 3

PROJECT METHODOLOGY

This chapter presents how the project was made. This chapter contains

the Project Design, Project Locale, Project Subject, Sources of Data, Data

Collection Technique, Project Instrument, and Schematic Diagram of the Project

Flow.

3.1 Project Design

The design of the mechanical arm is based upon the availability of

pneumatic cylinders as to the exact movement of the actuators without space

problem. The robotic arm can be operated pneumatically with a desired motion

sequence and can be manipulated via programmable logic controller through

interfacing the robot into the microcontroller based PLC.

3.2 Project Locale

The project study was conducted at Capitol University situated along

Corrales Extension, Cagayan de Oro City, particularly in the Engineering

Electrical Laboratory, 3rd floor of Engineering Building.

3.3 Project Subject

3.3.1 Electro-Pneumatic Components

The atmospheric air was compressed in the compressor and the air entered

the air filter prior to the air distribution system switch which distributes to power
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5/3 way valve for double acting cylinders and a spring return cylinders. The rotary

actuator rotates 180º in both pick and dropping point of the object. Rotary

actuators are also controlled by a 5/2 way valve. Each directional valve is

controlled by electrically generated with a 24Vdc solenoid coil.

3.3.2 Sensors

Two types of sensors used in this project are inductive sensor and

capacitive sensor. The inductive sensor detects only metallic objects while the

capacitive sensor detects any material.

Inductive proximity switches are the low-cost solution for non-contact

detection of metal objects. These switches are extremely reliable, heavy duty and

virtually indestructible. They are wear-free operation as well as resistance to

temperature, noise, light or water. They have a markedly long service life. An

inductive sensor detects only conductive materials, operation distance up to 50

mm, switching frequency up to 5 kHz, maximum ambient temperature 200 °C,

and high noise immunity.

Capacitive proximity switches are also non-contact sensors for measuring

conductive and non-conductive materials in solid, powder or liquid state. The

capacitive sensor detects every type of material (conductive, non conductive,

solids, fluids ...), operation distance up to 50 mm, switching frequency maximum

100 Hz and maximum ambient temperature 70 °C.

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3.3.3 Programmable Logic Controller (PLC)

A programmable logic controller (PLC), also referred to as a programmable

controller, is the name given to a type of computer commonly used in commercial

and industrial control applications. PLC’s differ from office computers in the types

of tasks that they perform and the hardware and software they require performing

these tasks. While the specific applications vary widely, all PLC’s monitor inputs

and other variable values, make decisions based on a stored program, and

control outputs to automate a process or machine. CL150 programmable logic

controller (PLC) was used in this project to control the robotic arm pick and place

system.

3.4 Sources of Data

The researchers gathered data from several tests and trials that were

carried out to acquire necessary information pertaining to the operation of the

project. These tests were based on the sequential motion programmed for the

robotic arm.

3.5 Data Collection Technique

The researchers gathered data through an actual experimentation and

simulation of the circuit operation using the WINSPS software and Automation

Studio v.3. This WINSPS software is used as the programming machine

language loaded in the programmable logic controller (PLC) to control the motion
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sequence of the robotic arm. Automation Studio v.3 was used to simulate the

desired sequence even without the programmable logic controller (PLC).

3.6 PLC Mnemonics

3.6.1 Motion Sequence

A motion sequence is a step motion technique use to indicate the series or

parallel movements of the robotic arm pick and place system.

Figure 3.6.1.1 shows the motion sequence of the robotic arm for metallic object.

Figure 3.6.1.2 shows the motion sequence of the robotic arm for plastic object.
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Let:

Compact Cylinder = A Rotary Actuator= B Linear Cylinder = C

Gripper = D Capacitive Sensor = E Inductive Sensor = F

3.7 Project Instrumentation

The study made use of the following instruments during its experimentation:

1. Automation Studio v.3 was used during the designing stage. It simulated

the pneumatic sequence of the robotic arm pick and place system without

interfacing it to the PLC.

2. WINSPS software was used to manipulate the actual movement of the

robotic arm pick and place system. The code of the program was encoded

in this WINSPS software.

3. Programmable logic controller was also used to control the logic operation

of the robotic arm pick and place system. The PLC served as the brain of

the robotic arm pick and place system. Input and output components were

directly connected to the PLC.

4. PC or laptop computer was for the programming processes.

5. Air compressor as the primary source of compressed air do supply the

robotic arm pick and place system.

6. Other tools were also used during adjustment and alignment on the actual

process. Such tools are: pliers, screw driver, electric drill, adjustable

wrench, soldering iron, and multi-tester.

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3.8 Block Diagram of the Project

  (figure na pod diri)

Figure 3.8.1 shows the operational block diagram of the project.

The system is centrally controlled by a programmable logic controller,

which every input and output data are fed in the PLC. The PLC processes

information that happens in the input and output components of the robotic arm

pick and place system. Input components are switches that include the start,

stop, emergency stop button, and the inductive and capacitive sensors. The PLC

is electrically generated by a voltage power supply of 24Vdc. Robotic arm pick

and place system movement is powered by a compressed air.

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3.9 Pneumatic Diagram of the Project

Figure 3.9.1 Pneumatic Diagram

CHAPTER 4
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PRESENTATION OF THE PROJECT

This chapter presents the major findings drawn from this study. This also

presents the diagram and hardware operations of the robotic arm pick and place

system.

4.1 Proto-type Robotic arm pick and place system

Robotic arm pick and place system consist of: loading station, testing station,
processing station and sorting station.

4.1.1 Loading Station

Figure 4.1.1 shows the loading station

In this station, metal and plastic materials are loaded manually. Loading the

materials must be done one at a time. Once two materials are loaded
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simultaneously in the process, an emergency stop button should be pressed to

ensure safety.

4.1.2 Testing Station

The testing station consists of an inductive sensor and capacitive sensor.

The sensors are calibrated to attune its sensing range and switching sensitivity to

ensure efficiency.

Figure 4.1.2.1 shows the testing station.

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At the moment metallic material was loaded, the inductive sensor will

automatically detect the metallic material as it passes through the sensor. A small

amount of signal is only needed to trigger the switching of the sensor. This

switching pulse will then be fed it to the programmable logic controller to process

the data.

Figure 4.1.2.2 shows the inductive sensor detecting the metallic material.
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A capacitive sensor will detect the plastic material. Switching pulse will

then be fed to signal the programmable logic controller (PLC) to process the

data.
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Figure 4.1.2.3 shows a capacitive sensor detecting the plastic material

4.1.3 Processing Station

The processing station involves the logic function of the robotic arm pick

and place system in response to the programmable logic controller (PLC). The

programmable logic controller (PLC) is responsible for processing the information

fed by the input data which is the sensors input value. Figure 4.1.3.1 and figure

4.1.3.2 shows the robotic arm pick and place system responded to the logic

function of the programmable logic controller (PLC).

Figure 4.1.3.1 Robotic arm pick and place system responded to a plastic material
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Figure 4.1.3.2 Robotic arm pick and place system responded to a metallic object.

4.1.4 Sorting Station

Since the PLC is responsible for the control of the robotic arm pick and
place system, it is much easier to separate the metallic and plastic material in a
different slot. The slot occupies up to three objects each for demonstration
purposes. After three consecutive loads for each slot, material must be removed
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from the sorting station.

Figure 4.1.4.1 shows the metallic material occupying the first slot.

In figure 4.1.4.2, shows that the plastic material occupies the second slot.
Each slot is therefore exclusive for different materials.
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Figure 4.1.4.2 showing the plastic material occupying the second slot.

4.2 The Relationship between Electro-pneumatics and Programmable Logic

Controller (PLC)

The processes of this robotic arm pick and place system, especially the

integration of electro-pneumatics and programmable logic controller were

dependent to each other. Each of the components has its own purpose and

function in the system. With PLC manipulation of the robotic arm pick and place

system, work is made easy, it minimizes work space compared to hard-wiring

system, accuracy of the robotic arm pick and place system response, it

minimizes human failures. Thus, with the right program installed in the robotic

arm pick and place system, PLC will now serve as the brain of the system

without human intervention.

4.3 Programming syntax using ladder diagram programming

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CHAPTER 5

CONCLUSIONS AND RECOMMENDATIONS

This chapter presents a comprehensive summary, conclusions and

recommendations based on the findings presented on the previous chapter.

5.1 Summary

This study was designed to create a robotic pick and place system that

utilized pneumatics components to drive its arm, an air compressor as a source

of power, sensors technology as a feedback device, and a programmable logic

controller (PLC).

5.2 Conclusion

Based on the findings of the study, it can be generalized that the robotic arm

pick and place system has satisfied the motion sequence of the system intended

to manipulate every processes. That using the programmable logic controller

(PLC) in robotic arm pick and place system has made the programming easy and

simple. The response of the system is totally dependent on the inductive and

capacitive sensors, which also has been used as feedback device in the system.

5.2 Recommendations

The outcome of the project caused the proponents to strive hard to

understand industrial automation, robotics, and sensor technology. Although the

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outcome has proven to be beneficial to student like us but on the process of

development, it gave us problems on to how to expedite the necessary hardware.

Having experience the entire short falls of the project, the following

recommendations may be undertaken to facilitate instruction, to wit:

o Physical appearance of the robotic arm pick and place system such

as the mechanical part must be improved.

o To maximize the potential of this robotic arm pick and place system

other features may be added, such as servo motors to drive the

robotic arm pick and place system into a different axis.

o If budget warrants, the University President may purchase a low

cost PLC for the University consumption.

o Enhance laboratory facilities in the University.

o The University may also consider budget allocation for

undergraduate project study or thesis- may be in the form of loan

especially to projects that are considered capital intensive-such as

this robotic automation and the like.