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    Pick and Place Robot

    Uploaded by

    Murthy Palacholla
    The document describes using a SCORBOT-ER 4u pick and place robot to palletize objects. It provides details on the robot's specifications including its 5 axes, range of motion, payload, and control software called SCORBASE. The code written positions the robot's gripper to specified points to pick up and place objects in a palletization sequence while following safety precautions. Upon successful execution, the code palletizes objects using the robot as intended.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Pick and Place Robot

    Uploaded by

    Murthy Palacholla
    78 views5 pages
    The document describes using a SCORBOT-ER 4u pick and place robot to palletize objects. It provides details on the robot's specifications including its 5 axes, range of motion, payload, and control software called SCORBASE. The code written positions the robot's gripper to specified points to pick up and place objects in a palletization sequence while following safety precautions. Upon successful execution, the code palletizes objects using the robot as intended.

    Original Title

    8. Pick and Place Robot

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    The document describes using a SCORBOT-ER 4u pick and place robot to palletize objects. It provides details on the robot's specifications including its 5 axes, range of motion, payload, and control software called SCORBASE. The code written positions the robot's gripper to specified points to pick up and place objects in a palletization sequence while following safety precautions. Upon successful execution, the code palletizes objects using the robot as intended.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    78 views5 pages

    Pick and Place Robot

    Uploaded by

    Murthy Palacholla
    The document describes using a SCORBOT-ER 4u pick and place robot to palletize objects. It provides details on the robot's specifications including its 5 axes, range of motion, payload, and control software called SCORBASE. The code written positions the robot's gripper to specified points to pick up and place objects in a palletization sequence while following safety precautions. Upon successful execution, the code palletizes objects using the robot as intended.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    The aim is to write and execute code to palletize objects using a pick and place robot. Key details about the robot and its operation are provided.

    The aim of the experiment is to write and execute code for palletization of objects using a pick and place robot.

    The robot used is a SCORBOT-ER 4u with 5 revolute joints and 6 degrees of freedom. It has a max operating radius of 610mm and can carry a 1kg payload.

    EXPT 9 PALLETIZATION OF OBJECTS USING PICK AND PLACE ROBOT

    AIM : To write and execute code for palletization of objects using robot .

    Description about Robot :

    The SCORBOT-ER 4u is a vertical articulated robot, with five revolute joints. With
    gripper attached, the robot has six degrees of freedom. This design permits the end effectors to
    be positioned and oriented arbitrarily within a large work space.

    • The movements of the joints are described in the following table:

    • The robots five axes and gripper are operated by DC servo motors. The direction of
    motor revolution is determined by the polarity of the operating voltage: positive DC
    voltage turns the motor in one direction, while the negative DC voltage turns in
    opposite direction.
    • The location and movement of each axis is measured by an electro optical encoder
    attached to the shaft of the motor which drives the axis. When the robot axis moves,
    the encoder generates a series of alternating high and low electrical signals. The
    number of signals is proportional to the amount of axis motion.
    • Several kinds of transmissions are used to move the links of the robot arm
    Spur gears move the base and shoulder axes
    Pulleys and timing belts move the elbow axis
    Pulleys and timing belts, and a bevel gear differential unit at the end of the arm
    move the wrist pitch and roll axis
    A lead screw transmission opens and closes the gripper

    Specifications of Robot :

    No of axes : 5

    Motions : Base Rotation

    Shoulder Rotation

    Elbow Rotation

    Wrist Pitch

    Wrist Roll

    Max Operating Radius : 610 mm

    Pay load : 1 kg

    Weight of Robot : 10.8 kg

    SCORBASE software:

    SCORBASE for SCORBOT ER 4U is a robotics control software package for robot


    programming and operation. It provides numerous capabilities like

    • Communication with the robot controller over USB channel


    • Control and real time status display of five robot axes, gripper and two peripheral
    axes
    • Position definition and display as well as manual robot movement in reference to
    Joint coordinate system
    • Saving and loading projects

    Homing and Control:

    The robot and peripheral axes location is monitored and controlled using encoders. To
    initialize the encoders and to obtain repeatable performance the axes must first reach a
    predefined position known as hard home. All recorded positions and movements refer to hard
    home position. The homing finds the hard home for the selected axes.

    Position Definition:

    Every SCORBASE project included a set of predefined positions and a program that sends the
    robot from one position to the other. Prior to running a program all the positions used in that
    program should be defined. SCORBASE offers various tools to define and store
    positions that will be used in the programs.

    The following SCORBASE tools are used in the position definition process.

    • Manual Movement Dialogue Box


    • Teach positions dialogue box
    • Robot movement dialogue box
    • Position data dialogue box
    • Positions window

    Code :

    Go to Position 4 Speed 5
    Open Gripper

    Go to Position 3 Speed 5

    Close Gripper

    Go to Position 4 Speed 5
    Go to Position 5 Speed 5

    Go to Position 8 Speed 5

    Open Gripper

    Go to Position 5 Speed 5

    Go to Position 4 Speed 5

    Go to Position 2 Speed 5

    Close Gripper

    Go to Position 4 Speed 5

    Go to Position 5 Speed 5

    Go to Position 7 Speed 5

    Open Gripper

    Go to Position 5 Speed 5

    Go to Position 4 Speed 5

    Go to Position 1 Speed 5

    Close Gripper

    Go to Position 4 Speed 5

    Go to Position 5 Speed 5

    Go to Position 6 Speed 5

    Open Gripper

    Go to Position 5 Speed 5

    Close Gripper

    Precautions:

    1. Make sure that robot base is properly and securely bolted in place
    2. Make sure that robot arm has ample space in which to operate freely
    3. Do not enter into the robot safety range or touch the robot when the system is in
    operation.
    4. Make sure that loose hair and clothing is tied back when you work with the robot

    Result:

    The code for Palletization of objects using Robot is written and executed .

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