International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072

DEVELPOMENT OF PICK AND PLACE ROBOT FOR INDUSTRIAL

APPLICATIONS
Vishakha Borkar1, Prof G.K.Andurkar2
1P.G Student, Department of Electronics and Telecommunication Engineering, GCOE, Jalgoan
2Associate Professor, Department of Electronics and Telecommunication Engineering, GCOE ,Jalgoan
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Abstract - The pick and place robot is designed so that user which research robotics feeds into engineering practice. In
is going to fill the liquid in bottle according to volume this project we are trying to establish both wireless
occupied in the bottle and after the bottle is filled robot will communication between the mobile robot and the remote
do pick and place operation by mechanical devices such as base station, and serial communication between the
gripper and robotic arm.The design is carried out on a low- remote base station and the GUI application. The base
cost robot platform for development of pick and place the station requires the serial communication with the GUI
things. There is establishment of both wireless application and also needs to be hardwired with the radio
communication between the mobile robot and the remote packet controller. Our aim is to be able to command and
base station, and serial communication between the remote control the Robot wirelessly by the GUI Application as
base station and the GUI application. The base station given in [3]. The main task of this project is two parts:
requires the serial communication with the GUI application
and also needs to be hardwired with the radio packet (1) To program the AVR microcontroller on both the base
controller. Our aim is to be able to command and control the station and the robot interfaced to the radio packet
Robot wirelessly by the GUI application. The main task of controller module which would enable us to wirelessly
this project is divided two parts: (1) to program the AVR control the robot
microcontroller on both the base station and the robot (2) To program the GUI application which would enable us
interfaced to the radio packet controller module which to serially control the base station?
would enable us to wirelessly control the robot; (2) to
program the GUI application which would enable us to Theoretical system limitation for the packet transmission
serially control the base station. Theoretical system is evaluated and analyzed. We tested packet stress to the
limitation for the packet transmission is evaluated and wireless module while varying the number of Robots and
analyzed. The packet stress to the wireless module while the payload data. The wireless parts were evaluated with
varying the number of robots and the payload data is tested. CRC error checking. As a result, we achieved control both
The wireless parts were evaluated with CRC error checking. wireless communication between the mobile robot and
It was observed that control through both wireless the remote base station, and serial communication
communication between the mobile robot and the remote between the remote base station and the GUI application.
base station, and serial communication between the remote This level of completely was successfully tested on groups
base station and the GUI application. Hence the wireless at up to four robots. Hence the wireless communication
communication and the serial communication were and the serial communication were successful in the
successful in the demodulation scheme. demodulation scheme.

1.INTRODUCTION A robot may appear like a human being or an animal or a

simple electro-mechanical device. A robot may act under
1.1 INTRODUCTION TO ROBOTICS the direct control of a human (e.g., the robotic arm of the
space shuttle) or autonomously under the control of a
Robotics researchers regularly endow robot platforms programmed computer. Robots may be used to perform
with new capabilities that increase the breadth of tasks that are too dangerous or difficult for humans to
potential applications and push the boundaries of implement directly (e.g.,. nuclear waste cleanup) or may
autonomy. In contrast, industrial automation is driven by a be used to automate repetitive tasks that can be
pragmatism dictated by the need to optimize throughput performed more cheaply by a robot than by the
and reliability. The hope of both is that, as multi-purpose employment of a human (e.g.,. automobile production) or
robotic platforms become more capable, they will be able may be used to automate mindless repetitive tasks that
to take over an increasing fraction of the tasks currently should be performed with more precision by a robot than
handled by application specific, fixed installation by a human (material handling, material transfer
automation, thereby granting all applications greater applications, machine loading and unloading, processing
levels of modularity and adapt ability which is expressed operations, assembly and inspection).The last two decades
in [1]. We are now seeing an acceleration of the rate at have witnessed a significant advance in the field of robots

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Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072

application. Many more applications are expected to is able to interact with and modify the environment in
appear in space exploration, battlefield and in various which it operates. Therefore, it is essential to define what
actives of daily life in the coming years. constitutes a robot. Different definitions from diverse
sources are available for a robot.
A robot is a mechanical device that performs automated
tasks and movements, according to either pre-defined 1.3 LAW OF ROBOTICS
program or a set of general guidelines and direct human
supervision. These tasks either replace or enhance human Isaac Asimov conceived the robots as humanoids, devoid
work, such as in manufacturing, contraction or of feelings, and used them in a number of stories. His
manipulation of heavy or hazardous material. Robot is an robots were well-designed, fail-safe machines, whose
integral part in automating the flexible manufacturing brains were programmed by human beings. Anticipating
system that one greatly in demand these days. Robots are the dangers and havoc such a device could cause, he
now more than a machine, as robots have become the postulated rules for their ethical conduct. Robots were
solution of the future as cost labor wages and customers required to perform according to three principles known
demand. Even though the cost of acquiring robotic system as “Three laws of Robotics”’ which are as valid for real
is quite expensive but as today's rapid development and a robots as they were for Asimov’s robots and they are:
very high demand in quality with IS0 standards, human
are no longer capable of such demands. Research and 1. A robot should not injure a human being or, through
development of future robots is moving at a very rapid inaction, allow a human to be harmed.
pace due to the constantly improving and upgrading of the 2. A robot must obey orders given by humans except when
quality standards of products. In this project we are going that conflicts with the First Law.
to perform three main actions the robot is going to pick 3. A robot must protect its own existence unless that
operation to place operation and to filled the quantity of conflicts with the First or Second law.
liquid according to user.
These are very general laws and apply even to other
1.2 KEY COMPONENTS OF ROBOT machines and appliances. They are always taken care of in
any robot design.
Automation as a technology is concerned with the use of
mechanical, electrical, electronic and computer-based 1.4 ORGANIZATION OF REPORT
control systems to replace human beings with machines,
not only for physical work but also for the development of This topic is mainly focus on bottle filling, pick and place
information processing. Industrial automation, which operation. It includes information as follows. Chapter 2
started in the eighteenth century as fixed automation has includes pick and place robot literature survey and
transformed into flexible and programmable automation history. It also contains comparison between various
in the last 15 or 20 years. Computer numerically robot and feature of developed pick and place robot.
controlled machine tools, transfer and assembly lines are Chapter 3 contains detail information about pick and place
some examples in this category. robot with bottle filling mechanism. Chapter 4 includes the
comparison among existing and developed robot system
and testing detailed for pick and place robot. Chapter 5
contains the conclusion and the future scope related to
dissertation work.

2. DEVELOPMENT OF PICK AND PLACE ROBOT IN

INDUSTRIAL APPLICATIONS

2.1 BLOCK DIAGRAM OF THE DEVELOPMENT OF PICK

AND PLACE ROBOT

From the below proposed diagram for development of

pick and place shown in figure3.1,User will give the input
Figure1.1 Component of Robot through GUI and it on soloniodal pump it will filled liquid
in the bottle. The gripper is connected to robotic arm that
Common people are easily influenced by science fiction pick the bottle according to programming of
and thus imagine a robot a humanoid that can walk, see, Microcontroller and place to desired location. Once work
hear, speak, and do the desired work as shown in figure will completed it will report through RF module that work
1.1. But the scientific interpretation of science fiction completed ready to do another work user can move the
scenario propounds a robot as an automatic machine that robot position and command through PC.

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The microcontroller then sends data to the RF module

using Rx-Tx (Receiver-Transmitter) Serial UART interface.
The RF module manufactured by Roving Networks is used
here is Atmega-16 that comes under AVR family which
itself has an Analog to Digital Converter (ADC). The
microcontroller then sends data to the RF module using
Rx-TX (Receiver-Transmitter) Serial UART interface. The
RF module manufactured by Roving Networks is used.
Atmega16 has higher code memory and RAM as compare
to 8051. The AVR is much faster. It executes most
instructions in a single clock cycle, as against 12 for a
standard 8051 or 6 for one of the high speed variants. If
you're converting an existing project, it's really important
to take this into account, or all the timing will be wrong.
Further, AVRs have an internal calibrated clock option, so
in many cases you don't need a crystal and gain two extra
port pins. They had inbuilt circuitry for ADC , SPI , I2C,
Figures 2.1 Block diagram for development of pick and UART, internal pull up registers etc. with their L&H 8bit
place robot. registers , they were capable of performing primitive 16bit
operations by breaking down the data in to H and L 8 bit
• Input and output devices: RF module. values. They even had internal oscillators on certain
• Input device: GUI window. flavors
• Mechanical devices: Gripper, Robotic arm,
solenoidal pump. 2.3 MATHEMATICAL MODEELING FOR DEVELOPMENT
OF PICK AND PLACE ROBOT
2.2 CIRCUIT DESIGN FOR DEVELOPMENT OF PICK AND
PLACE ROBOT A system is an integrated whole of parts or subsystems. A
system has specified goal or output for a given set of
The microcontroller operate the task such as forward inputs; a system may have many goals as well. A robot is a
,reverse,left,right.It also performed bottle filling and pick system as it combines much subsystem that interacts
and place operation. User sends the signal through RF among themselves as well as environment in which robot
module. Receiver circuit is interfaced to microcontroller to works.
received it and execute the instruction according the
programming. It is high performance, low power AVR 8 bit 2.3.1 Mathematical Model for DC Motor
microcontroller. The microcontroller is Atmega-16 that
comes under AVR family which itself has an Analog to DC motor of relatively small size, the relationships that
Digital Converter (ADC) converts the analog voltages of govern the behavior of the motor in various circumstances
the sensors into digital form. can be derived from physical laws and characteristics of
the motors themselves. Kirchhoff’s voltage rule states,
"The sum of the potential increases in a circuit loop must
equal the sum of the potential decreases." When applied to
a DC motor connected in series with a DC power source,
Kirchhoff’s voltage rule can be expressed as "The nominal
supply voltage from the power source must be equal in
magnitude to the sum of the voltage drop across the
resistance of the armature windings and the back EMF
generated by the motor.":

Vo = (I × R) + Vet
Where:
Vo = Power supply (Volts)
I = Current (A)
R = Terminal Resistance (Ohms)
Ve = Back EMF (Volts)
Figure 2.2 Circuit diagram of development of pick and The back EMF generated by the motor is directly
place robot in industrial objective. proportional to the angular velocity of the motor. The

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proportionality constant is the back EMF constant of the T=F×R………………………………………………………. (2.1)

motor [5]. Therefore force generated by motor can be
Ve = ω × ke calculated by equation (2.1)
Where: ω= angular velocity of the motor Therefore, F = (20 / 2.5) × g = 8 kg × g
Ke = back EMF constant of the motor MB = m.g × 220 = 8×g × cos20 × 145
Therefore, by substitution: Therefore, m = 4.95 kg
Vo = (I × R) + (ω × k e)
Hence the maximum load calculated is 4.95 kg. The actual
The back EMF constant of the motor is usually specified by load will be less than the calculated value because the
the motor manufacturer in volts/RPM or mV/RPM. In weight of the material used in constructing the arm was
order to arrive at a meaningful value for the back EMF, it is light and also weight of gripper mechanism was not taken
necessary to specify the motor velocity in units compatible into consideration.
with the specified back EMF constant. The motor constant
is a function of the coil design and the strength and 2.3.3 Mathematical Model for Mechanical Gripper
direction of the flux lines in the air gap. Although it can be
shown that the three motor constants normally specified A mechanical gripper is used as an end effector in
(back EMF constant, torque constant, and velocity a robot for grasping the objects with its mechanically
constant) are equal if the proper units are used, operated fingers. In industries, two fingers are enough for
calculation is facilitated by the specification of three holding purposes. More than three fingers can also be used
constants in the commonly accepted units. The torque based on the application. As most of the fingers are of
produced by the rotor is directly proportional to the replaceable type, it can be easily removed and replaced. A
current in the armature windings. The proportionality robot requires either hydraulic, electric, or pneumatic
constant is the torque constant of the motor. drive system to create the input power. The power
Mo = I × kM produced is sent to the gripper for making the fingers
Where: react. It also allows the fingers to perform open and close
Mo = torque developed at rotor actions [6]. Most importantly, a sufficient force must be
kM = motor torque constant given to hold the object. In a mechanical gripper, the
Substituting this relationship: holding of an object can be done by two different methods
V= (M × R) + (ω × kM) such as:

The torque developed at the rotor is equal to the friction • Using the finger pads as like the shape of the work
torque of the motor plus the resisting torque due to part.
external mechanical loading: • Using soft material finger pads.
Mo = Ml + M f
Where: In the first method, the contact surfaces of the fingers are
Mf = motor friction torque designed according to the work part for achieving the
Ml = load torque estimated shape. It will help the fingers to hold the work
part for some extent.
Assuming that a constant voltage is applied to the motor
terminals, the motor velocity will be directly proportional In the second method, the fingers must be capable of
to sum of the friction torque and the load torque. The supplying sufficient force to hold the work part. To avoid
constant of proportionality is the slope of the torque- scratches on the work part, soft type pads are fabricated
speed curve and can be calculated by: on the fingers. As a result, the contact surface of the finger
∆n / ∆M = n0 / M H and co – efficient of friction are improved. This method is
Where: very simple and as well as less expensive. It may cause
MH = stall torque slippage if the force applied against the work part is in the
n0= no-load speed parallel direction. The slippage can be avoided by
designing the gripper based on the force exerted.
It is describing loss of velocity as a function of increased
torsional load. So in this project requires DC motor for µnfFg=w…………………………………………… (2.2)
wheels (200 RPM), arm (100RPM) and gripper (60RPM). µ => co – efficient of friction between the work part and
fingers
2.3.2 Mathematical Model for ARM nf => no. of fingers contacting
Fg => Force of the gripper
From motor specifications we get, Torque = 2 kg-cm = 20 w => weight of the grasped object
kg-mm and Radius of shaft of motor = 2.5 m.
Therefore, Torque = Force × Radius of shaft

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The equation (2.2) must be changed if the weight of a execute, what other callbacks might be running
work part is more than the force applied to cause the simultaneously [6].
slippage.
µnfFg=wg…..………………………………... (2.3) 2.4.1.1 Algorithm for designing the GUI window
g => g factor
During rapid grasping operation, the work part 1. First declare the character A to H.
will get twice the weight. To get rid out of it, the modified A= dc motor forward, B= dc motor reverse= left, D=right,
equation (2.2) is put forward by Engel berger. The g factor E= solenoid of= solenoid off, G= relay on, H= relay off.
in the equation (2.3) is used to calculate the acceleration 2. Create push pull button labeled the name and
and gravity. select the size.
3. Select the baud rate 9600. The baud rate is the
2.4 SOFTWARE DESIGN rate at which information is transferred in a
communication channel. In the serial port context, "9600
2.4.1 GUI Method for User Window Design Technique baud" means that the serial port is capable of transferring
a maximum of 9600 bits per second. If the information
A graphical user interface (GUI) is a graphical display that unit is one baud (one bit), the bit rate and the baud rate
contains devices, or components, that enable a user to are identical. If one baud is given as 10 bits, (for example,
perform interactive tasks. To perform these tasks, the user eight data bits plus two framing bits), the bit rate is still
of the GUI does not have to create a script or type 9600 but the baud rate is 9600/10, or 960. You always
commands at the command line. Often, the user does not configure Baud Rate as bits per second. Therefore, in the
have to know the details of the task at hand. The GUI previous example, set Baud Rate to 9600.
components can be menus, toolbars, push buttons, radio 4. Now generate the M File.
buttons, list boxes, and sliders just to name a few. In 5. Through the RF module User will transmit the
MATLAB, a GUI can also display data in tabular form or as instruction to Robot. The designed window will show in
plots, and can group related components. The GUI contains figure 2.3 GUI window.

• An axes component
• A pop-up menu listing three data sets that correspond to
MATLAB
Functions: peaks, membrane, and sink
• A static text component to label the pop-up menu
• Three buttons that provide different kinds of plots:
surface, mesh, and contour. When you click a push button,
the axes component displays the selected data
Set using the specified plot.

Each component, and the GUI itself, are associated with

one or more user-written routines known as callbacks. Figure 2.3 GUI Window
The execution of each callback is triggered by a particular
user action such as a button push, mouse click, selection of 2.4.2 Micro AVR for Atmega16 Programming
a menu item, or the cursor passing over a component [7].
The creator of the GUI, provide these callbacks. The Micro PRO for AVR® organizes applications into projects
callback functions you provide control how the GUI consisting of a single project file (file with the .cap
responds to events such as button clicks, slider movement, extension) and one or more source files (files with the .c
menu item selection, or the creation and deletion of extension). The micro PRO for AVR® compiler allows you
components. There is a set of callbacks for each to manage several projects at a time. Source files can be
component and for the GUI figure itself. The callback compiled only if they are part of the project [8]. AVR is a
routines usually appear in the M-file following the family of microcontrollers developed by Atmel beginning
initialization code and the creation of the components. in 1996. AVR was one of the first microcontroller families
This kind of programming is often referred to as event- to use on-chip flash memory for program storage, as
driven programming. The event in the example is a button opposed to one-time programmable ROM, EPROM, or
click. In event-driven programming, callback execution is EEPROM used by other microcontrollers at the time. Re:
asynchronous, controlled by events external to the aver microcontroller. According to Wikipedia, AVR stands
software. In the case of MATLAB GUIs, these events usually for either 'Advanced Virtual RISC' or 'Alf and Vegard
take the form of user interactions with the GUI. The writer [RISC]': The AVR basic architecture was conceived by two
of a callback has no control over the sequence of events students at the Norwegian Institute of Technology (NTH)
that leads to its execution or, when the callback does Alf-Egil Bogen and Vegard Wollan.

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A project file contains:

• Project name and optional description;

• Target device in use;
• Device clock;
• List of the project source files;
• Binary files (*.mcl); and
• Other files.

2.4.2.1 Algorithm for programming robot

1. As the character is declared in maltab it transmits

character.
2. As the receiver module , it receives we designed the
code for each instruction
3.It enables the pin of atmega16.
4. Assign delay of 300ms.
5. It follows the instruction given to robot.
6. Then come exit.

The below flowchart figure 2.4 gives description robot

control programming. The system is operated at 12V and
2A.As the system started it will receive the signal from
user that is from GUI programming through RF module.
The characters are assigned in above algorithm. There are
condition blocks for A, B, C, D, E, F, G and H. Figure 2.4(a) Flowchart for robot control programming
system.
A = Forward
B = Reverse When the condition ch==B is executed the
C= Right character B is assigned to robot move reverse, otherwise it
D= Left goes toward next loop. In that loop if ch==C is given then
E= Arm up robot moves right side. The no action is denoted by X.
F= Arm down From the figure 2.4 b, Y is conditional block, if the
G= Relay on character ch==E is received, the robot arm up for picking
H= Relay off the bottle. When ch==F is received then arm of robot
down for placing the bottle.
The A is assigned to robot moves forward if user gives
character A then robot moves in forward direction
otherwise it follows next iteration

Figure 2.4(b) Flowchart for robot control programming

system.

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The user give the input quantity to fill the liquid, for the 3.2 CALCULATION FOR DC MOTOR
program ch==G is received. The relay is on for certain
amount of time. For relay stop action as desired time is Motor is to be operated with 12 volts applied to the motor
completed, it receives the ch==When ch==I is received if terminals. The torque load is 0.00141 N-m. Find the
yes then robot stop otherwise no action. resulting motor speed, motor current and efficiency. From
the motor data sheet, it can be seen that the no-load speed
3. PERFORMANCE METHODOLOGY of the motor at 12 volts is 200 rpm. If the torque load is
not coupled to the motor shaft, the motor would run at
3.1 COMMENTS ON DEVELOPMENT OF PICK AND this speed. The motor speed under load is simply the no-
PLACE ROBOT load speed less the reduction in speed due to the load [10].
The proportionality constant for the relationship between
Robots are outfitted with wide reaches and slim motor speed and motor torque is the slope of the torque
arms, steady repeatability and precise tooling - all of vs.speed curve, given by the motor no-load speed divided
which allows them to be extremely accurate. This high by the stall torque. In this example, the speed reduction
precision capability makes them a good match for caused by the 0.00141 N-m torque load is: 0.00141 N-m x
applications. One of the main advantages of is flexibility. (200 rpm/.0044770 N-m) = -200 rpm
robots are easily programmable. They are able to The motor speed under load must then be:
accommodate multiple changes in product shape and type. 11,700 rpm – 3690 rpm = 8010 rpm
In addition, robots provide a high level of movement
flexibility. Robot systems have the ability to improve The motor current under load is the sum of the no-load
product quality and cycle time. Robotic movements are current and the current resulting from the load.The
regulated, so the results are always the same. Quality is proportionality constant relating current to torque load is
improved because of this regularity. Furthermore, this the torque constant (k M), in this case, 0.007336 oz –in/A.
consistency allows the processes to take place. Because In this case, the load torque is 0.00141 N-m, and the
they are designed with compact base s, pick and place current resulting from the load must be:
robots are ideal if you are looking to conserve floor space. I = 0.00141 N-m x 1 amp/0.007336 N –m = 192 mA
Robots can be programmed to move within strict limits -
leading to even better use of space. Pick and place The total motor current must be the sum of this value and
applications can be physically demanding [9]. They are the motor no-load current. The data sheet lists the motor
labor-intensive, repetitive, and monotonous. Depending no-load current as 11 mA. Therefore, the total current is:
on the weight and size of a part, moving it from one place 192 mA + 11 mA = 203 mA
to another can be very demanding work. Pick and place
robots are unaffected by the stresses of the application. The mechanical power output of the motor is simply the
They are able to work without taking breaks or making product of the motor speed and the torque load with a
mistake. Incorporating pick and place robots can correction factor for units (if required). Therefore, the
effectively cut your costs. Robotic precision and reliability mechanical power output of the motor in this application
allow for less wasted material and more efficient use of is:
time. Plus, the initial investment in robots is quickly Output power = 0.2 N-m x 8010 rpm x .00074 = 1.18Watts
recouped - making pick and place robots an extremely
cost-effective solution. The mechanical power input to the motor is the product of
the applied voltage and the total motor current in Amps. In
In industrial point of view, it has very few problems in this application:
overcoming to developed system. The initial investment to Input power = 9 volts x .203 A = 1.82 Watts
integrate automated into your business is significant,
especially when business owners are limiting their Since efficiency is simply power out divided by power in,
purchases to robotic equipment. The cost of should be the efficiency in this application is:
calculated in light of a business’ greater financial budget. Efficiency = 1.18 Watts / 1.82 Watts = .65 = 65%
Regular maintenance needs can have a financial toll as
well. Without planning, companies can have difficulty 3.3 RESULT OF DEVELOPMENT OF PICK AND PLACE
achieving their goals. Employees will require training ROBOT
program and interact with the robotic equipment. This
normally takes time and financial output. Robots may Testing can be automated to free workers from repetitive
protect workers from some hazards, but in the meantime, tasks, as well as to increase test consistency and
their very presence can create other safety problems. traceability. If the data coming from the robot into quality
These dangers must be taken into consideration. assurance system then detection of abnormalities during
your production process can be done.

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• ON Time characteristics calculated by making robot From the above table no 3.1, 15 test are taken
working up to maximum time. It checked how much time during pick and place opearation.the desired distance is
system will work by taking output we get 4 hr for 3m in the desired time (t=30sec).The result is got during
development of pick and place robot. pick and place operation. The median i, e maximum time
•For accuracy it is PC operated so accuracy it will depend we get 2.93517m through practical. The desired output is
on User. Robot ability to position as the end point in space considered as 3m.
upon receiving a control command without previously
having attained that position. 3.5
•Range of operation depend range of RF module. In this

Actaul Distance
project RF module range is 30m. 3

Travelled
•In 1 hr checking of how many bottle filled liquid is done. 2.5 Actual…
For this system development of pick and place robot filled
50 for beginner and 80-100 for expert level. 2
• Load carriage capacity it will depend on wheel’s 1 3 5 7 9 11 13 15
diameter. Number of Test Taken of Distance Travelled
• Robot equipment maintenance helps to reduce
the breakdown of robots through preventive maintenance.
This system required low level of maintenance.
Figure 3.1 Actual distance travelled vs number of test
taken of distance travelled.
3.4 STASTICAL ANALYSIS OF DEVELPED OF PICK AND
PLACE ROBOT
From the above Figure 4.1, the average is resulted as
2.93517.It is concluded that the operations are performed
The number of test taken verse distance as parameter and
get the nearly equal to desired result. The above 0.064
other graph taken number of test taken verse Actual bottle
error are occurred due to non linarites, atmospheric effect.
filled (ml) desired of (200ml).From reading taken
accuracy and precision can be concluded.
Table 3.2 Data analyses by taking the parameter as
quantity of liquid.
Table 3.1 Data analyses by taking the parameter as
distance.
Number of test Actual bottle filled
taken while (ml) desired of
Number of test Actual distance
doing pick and (200ml)
taken while travelled desired of
place operation
doing pick and (3m)
place operation
1 200
1 2.9
2 199
2 3
3 200
3 2.8 4 201
4 3 5 200
6 200
5 2.9 7 200
6 3 8 198
7 2.8 9 199
10 200
8 2.7
9 3.1 From the above table 3.2 the readings are taken
during performing the test. The robot kept on through the
10 3 user gave the command of 200 ml with different time, the
11 3.2 result is achieved. From the calculation of graph as shown
in figure 3.2, the result i.e. Median means maximum time
12 2.8 quantity of liquid is filled is 200 ml. The average result is
13 2.9 of 199.6 means the system result is nearly equal to
desirable quantity. The robot doesn’t have accuracy but it
14 3 has factor affecting or the factor through which estimation
of accuracy is done. One of the major factors is precision.
15 3

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202 series and opposite side are connected in parallel. The

switch is used to on and off the robot.
201
Actual Liquid filled
desired(200ml)

200
199 Actual…

198
197
196
1 2 3 4 5 6 7 8 9 10
Number of Test Taken

Figure 3.2 Actual bottle filled vs number of test taken of Figure 3.4 Photograph of Robot from top view
distance travelled.
Figure 3.4 shows side view of robot. On the top of
It means that the result is obtained how much differed robot system the microcontroller circuit and motor
from each other as our desired quantity is of 200 ml. In the controlled driver is assembled. The tank is fixed on it.The
statistical definition precision is nothing but standard plastic pipe is used to fill the liquid in the bottle. The
deviation the robot has 89.83.It is nearly equal to ideal quantity is decided by user through GUI window.The
robot capability system provides so many functions to the user. There are
many key which operate motion of robot that is left, right,
3.5 ROBOT FROM TOP AND BOTTOM VIEW forward, stop and reverse. For pick the thing there is
gripper on and gripper off buttons are provided at GUI
Pick and place robot in industrial application window. For place the thing there are arm up and arm
consist of base, arm, gripper, tank having capacity of 1 down. For filling the bottle there are direct quantity button
lit.This robot is moving vehicle which can lift, filled the are displayed on GUI window such as 100, 200 up to 2
bottle and place the bottle to the desired location. The arm lit.The relay is on for respective amount of time.
of robot works with the help of pulley mechanism which is
actuated by motor. The end effector used here is gripper. The system is user defined, who is driver here.If any case
obstacle come user can easily handle the situation. In the
field work system easily operated in rainy season
precaution is taken that all circuits are placed at plastic
box.

4 CONCLUSIONS

The design and development of pick and place robot has

been carried out. A prototype was confirmed functional
working of robot system. This system would make it easier
for human beings to pick and place the risk of handling
suspicious objects, which could be hazardous in its present
environment and workplace. Complex and complicated
Figure 3.3 Photograph of robot from bottom view duties can be achieved faster and more accurately with
this design. A robotic arm is implemented using Atmega16
User will give the input through GUI and it on soloniodal in pick and place objects more safely without incurring
pump it will filled liquid in the bottle. The gripper is much damage. The robotic arm used here contains a soft
connected to robotic arm that pick the bottle according to catching gripper, which safely handles the object. In the
programming of Microcontroller and place to desired modern era, time and man power are major constraints
location. Once work will completed it will report through for the completion of a task. By the use of product, the
RF module that work completed ready to do another work industrial activities and hazardous operations can be done
user can move the robot position and command through easily and safely in a short span of time. The use of soft
PC. catching gripper and low power wireless communication
technique like RF module makes our system more
From figure 3.3 dc motor and battery of 12V @ 2A placed effective when compared to other systems. The developed
at bottom. The entire component placed on wooden system is capable of lifting only small weights; by
chassis. The dc motors from each side are connected in
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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 09 | Sep -2017 www.irjet.net p-ISSN: 2395-0072

introducing high torque motor large weights can be [6]A.S.C.S. Sastry, K.N.H. Srinivas (2010), “An automated
picked. A wireless camera can also be implemented to microcontroller based the mixing system”, International
track the movement of the vehicle and thus it can be used journal on computer science and engineering. (Volume II,
for defence purposes. The range is also a limitation here Issue 8, August 2010).
but it can be enhanced.
[7] B.O.Omijeh, R.Uhunmwangho, M.Ehikhamenle, “Design
In this project, it was observed that control through both analysis of a remote controlled pick and place robotic
wireless communication between the mobile robot and vehicle”, International journal of Engineering Research
the remote base station, and serial communication and Development. (Volume 10, Issue 5, May 2014).
between the remote base station and the GUI application.
The main task of this project was to program the AVR [8] MATLAB® 7 Creating Graphical User Interfaces.
microcontroller on both the base station and the robot
[9] https://en.wikipedia.org/wiki/Robot_software.
interfaced to the radio packet controller module which
would enable to wirelessly control the robot and to [10]https://en.wikipedia.org/wiki/Robotic_process_auto
program the GUI application which would enable us to mation.
serially control the base station.

4.1 FUTURE SCOPE

Our efforts to develop a low-cost integrated system for

development of pick and place robot have thus far resulted
in the iterative development of a tested, proven hardware
platform. The software stack has been developed for
localization, navigation, and radioactive element detection.
Future work can be done on the robustness of court
localization and further code optimizations, which are two
necessary steps for the integration of these components.

The eventual goal for this project is fully automated bottle

filling pick and place robot with minimum space. The
preliminary results for localization, motion planning and
bottle detection are encouraging. The communication
from the Robots to GUI application can be implemented
through the base station so that it can control up to 10
Robots from the GUI application through the base station
that use a secured wireless channel using encryption and
decryption. Considerably larger bandwidth system should
be on board because video streaming service is desired.
The future work can make the system robust to
environmental variations; it can also aim to develop the
decision-making functionality of the platform to create a
truly autonomous system.

REFERENCES

[1]RK Mittal and IJ Nagarath “Robotics and Control” BITS

Pilani, 2003.

[2]Jong Hoon Ahnn, “The Robot control using the wireless

communication and theserial communication.” May 2007.

[3]Ratheesh Rajan “Foundation Studies for an Alternate

Approach to Motion Planning of Dynamic Systems” M.S.E.,
the University of Texas at Austin, 2001.

[4]S.R.Deb“Robotics technology and flexible automation”.

[5]Subrata Ghoshal “Embedded systems and robotics”.

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