Automated Logistic Robotics Process

System
 Presenters

1. Yousef Alshehabi
2. Ahmad Bagasi
3. Mohammed Zabbani
4. Taher Alagha
 Presentation Sections

1. Introduction
2. Background
3. Project Management
 Introduction
In this section, we will discuss the motivation, problem description, objectives of the
Work.
 Introduction

• Importance of automation in current days.

• Why do we need automation?
• Automation effect on productivity.
Introduction
Motivation
 Motivation

• State of shipping market due to

COVID-19.
• How increase of demand for
shipping is affecting productivity.
• Labor Intensive & Time
Consuming.
Introduction
Problem description
 Problem Description

• Growth of e-commerce, resulting in a slow process for the shipping industry.

• Negative of impact of human sorting lines where an agent needs to pick the package from point A to point
B
- Wrong sorting
- Causing physical damage
- Productivity

• Humans interacting with routine tasks is very associated with errors, time consuming, efficiency.
Review of past projects
What did others do?
 Review of past projects

The project is inspired by two other projects:

• Fist one where a robotic arm sorts a cubic
boxes based on RFID tags and readers. The
robot identify objects by use of a webcam.
 Review of past projects

• The second project presents a robotic

arm which sorts objects based on color
and the objects are spherical objects.
 Review of past projects
By combining these two projects we use
computer vision and color identifying to
accomplish similar tasks where we will
focus on enhancing the movements and
keep it as efficient as possible, and most
importantly automating the process. In
addition we get the objects by using the
conveyor belt simulating a warehouses
scenario.
Proposed Solution
The goal
 Proposed Solution

• As mentioned previously the majority of sorting processes are done by

humans interactions.
• The disadvantages that comes with human based sorting alarmed
companies to find other solutions.
Our solution is to automating the sorting process to increase the overall
process efficiency and save a lot of time, effort, and money for the shipping
companies.
 Proposed Solution

For the design:

• A robotic arm is used to collect the packages from the conveyor belt.
• Then sort them in the desired destination.
• The package destination will be determined by two options (color sensor,
camera) installed in the system.
 Proposed Solution

• The automation solution used in this process will ensure the overcoming of
the problems generated by the use of human interactions in the sorting
process.
• The robotic arm can remove errors and delays will be minimized to nearly
zero, since the robotic arm can work 24/7.
Kinematics
What is kinematics?

• Kinematics definition?
• Robot kinematics?
 Kinematics types

• 1- Forward kinematics
• 2- Inverse kinematics
 Forward kinematics

• Calculating the end-effector

• What kinematic model to use?
• What are the model parameter?
ai-1 link length

α −1i link twist

di link offset

θi joint angle
Inverse kinematics

• Calculate the joints.

 Degree of Freedom
● Degree of Freedom (DoF) is a term used to define a robot's ability to
move forward and backward, Vertical and Horizontal in three-
dimensional space.

● Number of DoF is equal to the total number of independent displacements

or aspects of motion.

● Each degree of freedom is a joint on the arm, a place where it can bend or
rotate or translate.

● The number of degrees of freedom is identified by the number of

actuators or motors on the robotic arm.
 Hardware
In this section, the components of the robotic arm, the axis of motion and Motors will be discussed
 The components of the robotic arm

● It is composed of a set of joints separated in space by the

arm links

● These joints are the base, shoulder, elbow, wrist, and

gripper are typically connected to the controller and
where the motion in the arm occurs

● All joints are actuated by motors which allow relative

motion between the arm links

● The links are the rigid members connecting the joints and
the end effector which is used to hold and move the
objects.

● The end effector can be a gripper, a vacuum pump,

magnets, and welding torches.
 The Robotic Arm Axis of Motion
● Axis 1 (J1): Located at the robot base, allows the robot to spin up
to a full 180-degree range from the center point.

● Axis 2 (J2): Located at the robot shoulder, allows the lower arm of
the robot to extend forward and backward

● Axis 3 (J3): Extends the robot's vertical reach for better part
access

● Axis 4 (J4): Aids in the positioning of the end effector and

manipulation of the part

● Axis 5 (J5): Allows the wrist of the robot arm to tilt up and down

● Axis 6 (J6): Allows rotation motion, both to position end effectors

and to manipulate parts
 Motors and Actuators

● AC Motors:
The AC motors are driven by AC current. They are normally used in heavy applications where
high torque is required.

● DC Motors:
The DC motor converts direct current electrical energy into mechanical energy. They allow the
robot to be battery-powered, which offers great advantages such as speed variation and torque
 Servo DC Motor
● A servo motor is an electrical device that can push or rotate an object with great precision.
● A Servo motor is used to rotate an object at some specific angle or distance
● It is just made up of a simple motor that runs through a servo mechanism.
● It provide angular precision with control of the speed rotation
● Limited to 180 degree angle of rotation
● It can be controlled by PWM signal
 Stepper DC Motor

● The move in step

● It is possible to skip steps with high loads
● There is no limit of angular rotation
● They also take less current
● Gives more holding torque maintain position
● Excellent position accuracy
● Unlike servo motor, they don’t require encoder
● It can be controlled by PWM signal
 Brushed DC motor

● The brushed DC motors use the brushes to conduct current between the
source and the armature.
● These motors are known for their high torque to inertia ratio
● The brush DC motors have the ability to provide torque three to four
times greater than their rated torque
● The direction of the DC motor can be reversed by simply reversing the
polarity of the battery connection
● The speed of the motor can be controlled by changing the voltage level
and the dc voltage level can be changed by the PWM signal
● Brush arcing can generate electromagnetic noise and it can wear out
over time
● It has limited in speed due to brush heating
 Brushless DC motor
● Brushless DC motors are similar to Brushed DC motors in construction but they are driven by
closed-loop controllers and require inverters or SMPS for power supply
● These motors have permanent magnets which rotate a fixed armature
● It has higher speed achievable and higher torque
● They use more current therefore more power
● More expensive
● Better control over speed
● It has longer time period than brushed dc motors
● Difficult to control
● It require brushless electronic speed control (ESC)
Hardware
Controller
 Controller

● Controllers are used as the brain of the system

● Controllers can be programmed to a function automatically or manually by the operator

● Controllers are responsible for giving a command to the system to do a certain function or task.
 Types of Controllers

● What are the different types of controllers

● Advantages and disadvantages
● Programming languages
 PLC

● PLC ( Programmable logic controller ) is a digital

computer with an input and output interface and used
for automation of industrial processes
 Arduino

● Arduino is un open source programmable

circuit board that can be integrated into a
wide variety of projects both simple and
complex.
 Raspberry Pi

● Raspberry Pi is a series of small single-

board computers that runs by Linux
operating system.
Hardware
Conveyor Belt
 Conveyor Belt

● Conveyor Belt is used to carry and move

boxes from one place to another.
● it is manly used in industrial application
 Parts of Conveyor Belt

● Belt
● Head and tail pulley
● Motor
● supports
 Parts of Conveyor Belt

● Belt: they are usually made of many different

materials according to the application used or
durability.
 Parts of Conveyor Belt

● Head and tail pulley: They help in the conveyor belt

movement as they have bearings to make the belt
rotate.

● They are located at the end of both sides of the

conveyor Belt
 Parts of Conveyor Belt

● Conveyor Belt Motor: There are variety of motor

selection depending on many factors.

● Supports: Conveyor belt legs are used to support

the pulleys and adjust the width of the conveyor.
Another support will be a metal sheet under the
belt to handle the weight of the box above the belt
and can be used as a linear guide.
Project management
 Chapter Sections
• Methodology
• Hardware and software requirement
• Budget worksheet
• Work Breakdown Structure
• Gant chart
 Methodology

• Project Flow Chart

• Project idea
• Literature review
• Project working principle
Project Flow
Chart
Project idea
Literature review

• Why is the literature review is used?

• Build a background on the topic.
• Help in deciding:
• 1- Software and hardware
• 2- Project approach
• 3- Expected problems
 Project working
Principle

• 1- Conveyor belt
• 2- Photosensor
• 3- Camera sensor
• 4- Controller
• 5- Robotic are
• 6- Repeat
Hardware and Software
Requirement
Budget worksheet
WBS
Gantt chart