Journal of Xi'an University of Architecture & Technology ISSN No : 1006-7930

Design and Development of Pick and Place

Robotic Arm with Path Record and Play
MANIVANNAN A 1, HARI PRASATH R 2, GOPI NATH K 3, RAM PRASANNA M 4
1
Assistant Professor, Department of Mechanical engineering, Krishnasamy collage of engineering and
technology, Cuddalore, Tamilnadu, India.
234
UG scholars, Department of Mechanical engineering, Krishnasamy collage of engineering and technology,
Cuddalore, Tamilnadu, India.

ABSTRACT-In the past two decades the industrial works are found to be implemented through robots.
The industrial robots are designed to eliminate error and intervention of human. The pick and place
robot is designed to perform pick and place operation. The literature survey suggest that the pick and
place robot is used in various fields such as packaging, inspection of jobs and also for military purposes
for defusing bombs. The project deals with designing and analysing the structure of robotic arm with
different materials. It will pick and place an object from source to destination safely. The soft catching
gripper used in the arm will not apply any extra pressure on the objects. The robot is controlled using
android based smart phones or PC through Bluetooth. The robotic arm has 6-DOF. It has additional
features such as mechanical gripper and pneumatic gripper for versatility while using.

Index Terms - 6-DOF Robotic Arm for Pick and Place Operation

Keywords: robotic arm; path record and play; pick and place operation,

I INTRODUCTION

A robotic arm has a mechanical structure that alters its form using a group of electric motors that
behave like servo motors, pneumatic, or hydraulic actuators. They are usually programmable, with similar
functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such
as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered
to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and
it is analogous to the human hand.

Many elements of robots are built with inspiration from the nature. Construction of the manipulator as
the arm of the robot is based on human arm. The robot has the ability to manipulate objects such as pick and
place operations. They attempt to reproduce movement similar to a human arm. Robots are generally used to
perform operations that are risky, hazardous and troublesome tasks. They are used for different operations such
as material handling, assembly, arc welding, resistance welding and machine tool load and unload functions,
painting, spraying, etc.

II LITERATURE SURVEY

[1] Design of controlling an anthropomorphic robotic arm by Gourab Sen Gupta,

S.C.Mukhopadhyay and Matthew Finnie In this paper They proposed the design of controlling an
anthropomorphic robotic arm through a LAN or via the Internet. The user can control the robotic arm remotely
and access its sensory feedback signals. The camera mounted on the robot arm takes images and transmits to the
control station. The robot arm is controlled using a master-slave control methodology.

[2] Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle. In this paper the
design of a Remote-Controlled Robotic Vehicle has been completed. A prototype was built and confirmed
functional. This system would make it easier for man to unrivalled the risk of handling suspicious objects which
could be hazardous in its present environment and workplace. Complex and complicated duties would be
achieved faster and more accurately with this design. The use of Robots is highly recommended for
Industries especially for safety and productivity reasons. In their design work, they included a Robotic arm
of five Degree of Freedom with its base resting directly on top of the vehicle, a body having four
drive wheels coupled to the ends .In the mode of operation of robot ,they included operation such that when

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the operator issues a command from the remote control to the robotic vehicle all necessary tasks will
be carried out by sending signals to the microcontroller. The microcontroller then issues command to the
respective channels that makes up the communication links. The electric motor will operate as per given
command and the direction, speed and motion of the motor is regulated by the microcontroller.

[3]Design of a Robotic Arm with Gripper & End Effector for Spot Welding. In this paper propose
of This robotic technology makes the spot welding operation more flexible and time oriented. With the help of
pick and place mechanism the material handling has been easily carried out. The variation in the mechanical
structure and the angle of movement can be changeable. The human hand design forms the basis of this project
of developing a robotic gripper and is the source of inspiration to achieve the sufficient level of dexterity in the
domain of grasping and manipulation if coupled with wrist and arm. Instrument. To achieve this goal they
intend to incorporate a simple linkage actuation mechanism. An AC motor is used along with spur gears
and a threaded shaft arrangement. The gripper can perform the basic function of picking, holding and
grasping of objects by means of a DC motor and it forms the mechanism for the spot welding.
The Project Aims to Build A Prototype of robotic arm with gripper & end effectors for spot welding,
the various objectives of the prototype is as follows:- i) Having a rigid mechanical structure. ii)
Ability to move each parts at define angle. iii) Optimum power consumption. iv) To pick the material in
jaws and join itself by means of spot welding mechanism. From this paper ,they concluded that This
robotic technology makes the spot welding operation more flexible and time oriented. With the help of
pick and Gripper is an end effectors or tool to grasp any physical thing that may be a human hand or
any place mechanism the material handling has been easily carried out .The variation in the mechanical
structure and the angle of movement can be changeable

[4] Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle by B.O. Omijeh In this
paper, the design of a Remote Controlled Robotic Vehicle has been completed. A prototype was built and
confirmed functional. This system would make it easier for man to unrivalled the risk of handling suspicious
objects which could be hazardous in its present environment and workplace. Complex and complicated duties
would be achieved faster and more accurately with this design.

III OBJECTIVE

The main objectives of this project are

 To design a robotic arm and analyse its structure with different materials (stainless steel and aluminium
alloy).
 To control the displacement of the robotic arm with servo motors so that the arm can be used to pick
and place the elements from any source to destination.
 To control the displacement and movement of robotic arm using Bluetooth control from smart phone or
Pc.
 To implement a robotic arm with six degrees of freedom.

IV TYPES OF ROBOTIC ARM

Figure 1 A) Polar, B) Cylindrical, C) Cartesian, D) Jointed-Arm, E) SCARA

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V DESIGN PROCEDURE

The robot design is the most important part in the process of constructing the robot. Here we develop
new ideas for the construction of the robot and express these ideas in the form of plans and drawings. The robot
arm design procedure involves:

 Material selection

 Design of mechanism

 Preliminary design

 Revision of design

 Final drawings

A) Requirements

 The robot must be Tough, Rigid and Precise.

 The arm must be rigid enough to withstand forces generated due to Own body weight Weight of the object to
be lifted Inertia forces due to changes in velocity Centrifugal forces due to changes in velocity

 The mechanism must be simple such that the manufacturing process is simplified.

 The cost of the producing the robot must be reduced.

B) Robotic Arm Design

Figure 2

C) Interchangable gripper

Figure 3

Gripper or end effector is used for holding the object which is to be manipulated. There are various
times of gripper based on the source used they are vacuum grippers, pneumatic grippers, hydraulic grippers and

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Journal of Xi'an University of Architecture & Technology ISSN No : 1006-7930

servo electric grippers. The second method of categorizing the grippers (mechanical) is based on the type of
kinematic device used for the actuation of finger motions. It can be accomplished by anyone of these types:
linkage, screw, gear and rack, rope and pulley, or cam actuation.

VI METHODOLOGY

Figure 4 Block Diagram

The block diagram of the proposed system is shown in Fig 4. It consists of an arduino Microcontroller IC,
Six servo motors and power supply. The pick and place robot uses four motors for arm movement, two servo
motors for the gripper jaw opening and closing. There are two motors for the arm assembly, one for the up and
down motion. Arduino micro controller is used. The input signal or controlling signal is given from a Bluetooth
from android, which is interfaced with the microcontroller by a Bluetooth module. When the signal is sent from
the smart phone it is decoded in the controller and proper controlling signal is sent to actuators (dc motors or
servo motor) in the system.

A) Arduino Microcontroller

The Arduino Uno is a microcontroller board based on the ATmega328. It has 20 digital input/output pins (of
which 6 can be used as PWM outputs and 6 can be used as analog inputs), a 16 MHz resonator. The operating
voltage is 5V. The boards are equipped with sets of digital and analogue input/output (I/O) pins that may be
interfaced to various expansion boards ('shields') or breadboards (For prototyping) and other circuits.

Figure 5 Arduino Uno Microcontroller

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Journal of Xi'an University of Architecture & Technology ISSN No : 1006-7930

The boards feature serial communications interfaces, including Universal Serial Bus (USB) on some models,
which are also used for loading programs from personal computers. The microcontrollers can be programmed
using C and C++ programming languages. In addition to using traditional compiler tool chains.

B) Servo motor
A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or linear
position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback.
Servomotors are used in applications such as robotics, CNC machinery or automated manufacturing. A
servomotor is a closed-loop servomechanism that uses position feedback to control its motion and final position.
The input to its control is a signal (either analogue or digital) representing the position commanded for the
output shaft.

Figure 6 Servo Motor

The motor is paired with some type of position encoder to provide position and speed feedback. In the
simplest case, only the position is measured. The measured position of the output is compared to the command
position, the external input to the controller. If the output position differs from that required, an error signal is
generated which then causes the motor to rotate in either direction, as needed to bring the output shaft to the
appropriate position. As the positions approach, the error signal reduces to zero and the motor stops. The servo
turn rate, or transit time, is used for determining servo rotational velocity. This is the amount of time it takes for
the servo to progress a set amount, usually 60 degrees.
For example, suppose you have a servo with a transportation time of 0.17sec/60 degrees at no load, this
means it would take nearly half a second to rotate an complete 180 degrees
C) Axis Capabilities

SERVOS MAXIMUM SPEED TORQU

LOCATION ANGLE(º) -E
(N/mm)

BASE 360 º 0.17 0.92

s/60º

WAIST 180 º 0.17 0.92

s/60º

ARM 1 180 º 0.17 0.92

s/60º

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ARM2 180 º 0.17 0.92

s/60º

GRIPPER 270 º 0.17 0.92

(2) s/60º

D) Circuit Connection
ARUDINO micro controller can only provide 5v output voltage it is not sufficient to power all six
servos so an external power supply is given to power the servo motors.

1. Base servo
2. Arm 1 servo
3. Arm 2 servo
4. Wrist servo
5. Gripper up/down servo
6. Gripper opening/closing servo

E) Android application

Android devices becomes more and more popular for software developers because of its powerful
capabilities and open architecture, also it’s based on the java programming language. Because Android uses the
Java programming language getting started with the Android programming interface (API) is easy; the API is
open and allows easy access to the hardware components. Android devices provide numerous communication
interfaces like USB, Wi-Fi and Bluetooth, that can be used to connect to the robot. It is a great platform for a
robotic system control, because it’s much cheaper than any other ARM-based processing unit.

F) Bluetooth

This project uses Bluetooth to connect and send direct commands from the mobile phone to control the
robot based on direct Commands Communication Protocol. The typical sequence of events when a user runs the
application. This sequence diagram assumes the user already has the software on his phone and the robot and it
represents an abstract level of the interaction between the system components (mobile application and the
robot). HC-05 embedded Bluetooth serial communication module has two work modes: order-response work
mode and automatic connection work mode. When the module is at the automatic connection work mode, it
will follow the default way set lastly to transmit the data automatically. When the module is at the order-
response work mode, user can send the AT command to the module to set the control parameters and sent
control order. The work mode of module can be switched by controlling the module input.

G) Path record and playback

Playback robots use a more sophisticated control. The robot is taught a series of positions or motions,
recorded into memory and then repeated under its own control. The procedure of teaching and recording into
memory is called as programming the robot. Playback robots have a feedback to ensure the robot has reached
the positions that have been taught. Playback robots are classified into two categories: Point-to-Point Control
(PTP) and Continuous Path Control (CP).

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V. HARDWARE SETUP

Figure 7

VI. CONCLUSION

The proposed concept of pick and place robot using Arduino is implemented via Bluetooth control. It is found
that, the robot so implemented has the ability to locate itself to the location where the object to be lifted is
available with the help of arms and six servo motors. Further depending upon controlling action provided to
servo motor it lifts the object and locates the same at required destination.

VII. FUTURE SCOPE

The robot so programmed for pick and place operation can be made versatile and more efficient by providing
the feedback and make it operate on its own thought without any human intervention. The robot can be used for
automated assembly lines , welding purpose, sorting .etc,.

REFERENCES

[1] Pick and Place Robotic Using Arduino Harish K , Megha D , Shuklambari M , Amit K , Chaitanya K
Jambotkar.

[2] Industry Based Automatic Robotic Arm

Dr. Bindu A Thomas, Stafford Michahial, Shreeraksha.P, Vijayashri B Nagvi, Suresh M

[3] Er. R.K.Rajput, „Robotics and Industrial Automation‟, S. Chand Publications, 2014.

[4] Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle by B.O. Omijeh

[5] https://howtomechatronics.com/

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