《Innovative thinking and practice》

Experimental protocol summary report

Title：Automated Sorting System

Team Members：

2017080601017 Mekonnen Abraham Niguse

2017080601020 Gebrekidan Yonatan Yakob
2017080601025 Tsehay Natnael Getasew
2017080601039 Aliyi Abdurezak Kasim
2017080601049 Asgedom Abel Gebremedhin
2017080601051 Endeshaw Amanuel Assefa
Table of Contents
1. Overview ............................................................................................................................................... 3
1.1. Purpose and significance .............................................................................................................. 3
1.2. Status analysis ............................................................................................................................... 3
2. Product description............................................................................................................................... 4
2.1. Product function description ........................................................................................................ 4
3. Design Plan Description ........................................................................................................................ 5
3.1. Overall Technical Solution............................................................................................................. 5
3.2. Structural Module Design Scheme................................................................................................ 5
3.2.1. 4-DoF Robotic Arm ................................................................................................................ 6
3.2.2. Conveyor belt ........................................................................................................................ 7
3.2.3. Camera Stand ........................................................................................................................ 7
3.2.4. Transportation Sub-System................................................................................................... 8
3.3. Main Control Module Design Scheme ........................................................................................ 10
3.3.1. Raspberry pi 4 ..................................................................................................................... 10
3.3.2. Arduino................................................................................................................................ 11
3.3.3. PCA9685 .............................................................................................................................. 11
3.3.4. ULN2003.............................................................................................................................. 11
3.3.5. Relay Module ...................................................................................................................... 12
3.3.6. Flow Chart ........................................................................................................................... 12
3.4. Sensing Module Design Scheme ................................................................................................. 15
3.5. Implementation of The Modular Design Scheme ....................................................................... 15
3.6. Power Supply Module Design Scheme ....................................................................................... 17
4. Product expectations .......................................................................................................................... 17
4.1. Product engineering realization ability ....................................................................................... 17
4.2. Product market acceptance expectations .................................................................................. 18
4.3. The effect of the product on environment and sustainable development ................................ 19
5. Summary ............................................................................................................................................. 19
6. Course suggestions ............................................................................................................................. 21
Appendix A: Assembly and Parts Drawings ................................................................................................ 23
Robot Arm ............................................................................................................................................... 23
Locomotive.............................................................................................................................................. 35
Appendix B: Programs................................................................................................................................. 43
Arduino Code .......................................................................................................................................... 43
Raspberry Pi code ................................................................................................................................... 43
1. Overview
1.1. Purpose and significance
In the earlier years the management of small industries to comparatively high-level major
industries were generally allocated to the sorting process. But companies began searching for
better technology that would reduce human effort, thus allowing them to improve efficiency and
satisfy rising demand. This will also allow them to make a big profit and therefore the company's
growth gets improved.
With this in mind, we have searched to collect more concepts and simplified technology to realize
our definition. We then considered the automated sorting system using camera sensor. The tools
appropriate for the system's operation were also readily accessible and the system could be
implemented without being complicated.
In this project called the automatic sorting machine using image processing, the robot arm is used
to pick the object from the conveyor and position items according to its size on the car. This
project includes these main important tasks, which are identifying, object selection based on size,
and transporting the sorted items.
The sorting of objects using automated system is extensively used in the industries. It leads to
reducing labor needs, increasing efficiency, enhancing reliability, cost-effectiveness and reducing
industrial funds. It is the most efficient tool for the complicated and impossible sorting and the
job that human hands cannot do.

1.2. Status analysis

During this industry revolution, automation technology is a recognition that many future
advantages of automation will contribute to people[1]. One of the exciting objects for emerging
automation technology would be the robot arm, a mechanical device used to control the motions
of the raise, shift and manipulate an object to support social work[2]. Several researchers have
helped developing robot arm technology. Much focused-on techniques of control, modeling and
movement. For example, Faidallah et.al designs the robot arm with electromyography and
versatile sensor from the controls and modeling side[3]. Saafi et.al concentrated on movement
techniques and suggested the cinematic concept of a spherical parallel manipulator for potential
development[4]. Guo, et.al attempted to build a prototype of a mobile robot arm[5].
Nowadays, industry has dramatically increased and the requirement for sorting systems has also
grown. In the modern days, the automobile industry, chemical companies, etc. are thousands of
industries with automated sorting systems. These processes are widely automatic and use sorting
equipment. Many of these devices are for a major product category to be sorted.
2. Product description
2.1. Product function description
First the main parts of industrial automatic sorting system are the camera sensor, the gripper, the
transport car and the conveyor. In the next part we will discuss the main function of each parts.
The Camera Sensor (Object Identification):
The types of camera we use is Logitech C270 Camera. The main function of this camera is to
identify or detect different material based on their size. For example, in the figure 1 below there
are two similar material in the conveyor. based on their size the first one is the big one and the
second one is small one. When the big material is on the area of the camera then the camera
identifies the material is big when area of the material is greater than or equal to 7000 and the
camera identify the small one when the area of the material is between 2000 to 3000.

The Robot Arm:

The main function of the robot arm is to lift the material from the conveyor and put it on the
cargo box. From figure 2 we understand when the camera detects a material and if it is big at that
time the robot arm lifts the big material and put it on the right side of cargo box. if the material
is small then the robot arm lifts the material and put it on the left side of cargo box.
3. Design Plan Description
3.1. Overall Technical Solution
The task of the system which described under section two is just the integration of different
modules. The system is entirely built from structural modules(building blocks), control modules,
sensor modules, and control algorithm modules. It’s the integration of all the modules that let
the system accomplish tasks. Structural modules are the physical building blocks of the system,
some of which are premanufactured and others needed to be manufactured using 3D printer and
CNC machine. A control module is a collection of basic control logic, sensors, actuators, control
modules, and associated processing equipment that is operated as a single entity. Control
modules are where the real work is done, in the form of basic control. They basically perform two
primary functions: they provide an interface with the physical devices, and they contain basic
control algorithms. Sensor modules are electronic devices that detect and respond to some type
of input from the physical environment. Control algorithm is an algorithm that the controller
compares a process measurement to a desired "setpoint" value and produces a "controller
output" in response. The detailed explanation of the modules is given by the following sub-
sections.

3.2. Structural Module Design Scheme

Our system is composed of different parts, and each part accomplish different tasks. So, the
physical structure strength, complexity, and manufacturing process of different parts is also
different. Based on the similarity of the complexity, strength, manufacturing process and tasks
they accomplish we could divide our system into four major different parts.
o 4-DOF Robotic arm
o Conveyor belt
o Camera stand
 o Cargo transportation subsystem
3.2.1. 4-DoF Robotic Arm
A robotic arm is a type of mechanical arm, reprogrammable, and have multifunctional
manipulator designed to move material, parts, tools, and specialized devices through variable
programmed motions for the performance of a variety of tasks. Robotic arms attempt to
reproduce movement similar to a human. The mechanical structure form of robotic arms could
be altered using a group of electric motors that behave like servo motors, pneumatic, or
hydraulic actuators. In this project, only servo motors are used as actuators, and details of the
servos are discussed under section 3.5. A robot arm can be described as a chain of links that
are connected by joints allowing either rotational motion or translation motion. Since only
servo motors are used as actuators in this project, the allowed motion is rotary. Another
common term that’s used when a robot is designed is the DOF(Degrees of Freedom), it simply
refers to the freedom of movement of a rigid body in three-dimensional space. The freedom of
movement is determined by the joints connecting the links. In this project four rotary joints are
used, so we could say our robotic arm have four DOF. Also, there are four links used for the
robotic arm which are given below.
o Base
o Shoulder
o Elbow
o Gripper (manipulator)
Base

This link is responsible for rotary motion of the robotic arm around the vertical axis. Since the
entire body of the robot arm rests on this link the, a high torque MG995 servo motor is used as
a driver. (the details of this motor will be discussed under section 3.5) The base link is assembly
of six parts which are designed using the 2020’s Solidworks software. Some of the parts with a
more complex and detailed profile were manufacturing using a 3D printer (Appendix A Figure A-
3 – Figure A-6) and those with less complexity and flat profile were manufactured using CNC
milling machine by converting the 3D design by Mastercam x5. To account for the weight of the
entire robot arm resting on the base, to provide support and reduce friction 6910Z deep groove
ball bearing is used. The inner and outer diameter, other essential parameter of the bearing is
given below.
D=72 mm weight=0.133 kg
d= 50 mm B= 12 mm
Basic static load rating = 11.7 KN
Shoulder

DS3225 digital servo motor (high torque motor) connects the base and shoulder links, which
allows the shoulder to move up and down.(the details and important parameters of the motor will
be discussed under section 3.5) The part of the shoulder is designed using Solidworks (Appendix
A-2) and manufactured using a 3D printer.
Elbow

MG90S servo motor (high torque motor) connects the shoulder and elbow, which allows the
elbow to move up and down.(the details of the motor and important parameters will be
discussed under section 3.5) The elbow allows the robotic arm to reach more points in the three-
dimensional Euclidean space. The parts of the elbow were designed using Solidworks (Appendix
A-1) and manufactured using a 3D printer.
Gripper (Manipulator)

The end effector used for this project is a gripper type. The gripper is actuated using SG90
micro-servo. (the details and important parameters of this motor will be discussed under section
3.5) The gripper is assembled from nine different parts, all designed using SolidWorks. Some of
the parts with complex structure were manufactured using a 3D printer (Appendix A Figure A-7
– Figure A-8 and Figure A-10) and others were manufactured using a CNC milling machine.
(Appendix A-9)
3.2.2. Conveyor belt

A conveyor belt is the carrying medium of the belt conveyor system. It consists of two or more
pulleys, with an endless loop of carrying medium, the conveyor belt, that rotates about them
creating a pull effect for goods it’s carrying. One or more of the pulleys will be powered moving
the belt and the material on the belt forward and along the system. The powered pulley is called
the drive pulley and the unpowered pulley is called the idler pulley. In this project only two
pulleys were used and one DC motor were used to drive one of the pulleys.(the details of this
motor will be discussed under section 3.5)
3.2.3. Camera Stand
The camera stand is a simple structure used to hold the camera at some specific height directly
above the conveyor belt. The height is 40 cm. For stability of the camera stand a wide base were
attached to the platform. The camera stand is assembled from 40mm x 20mm x 20mm metal
tube and five other parts that were designed using SolidWorks and manufactured using a CNC
milling machine. (Appendix A-)
3.2.4. Transportation Sub-System
The transportation subsystem is designed to transport materials from the conveyor area to some other
area, say store area. The subsystem could be considered as three smaller systems for convenience.

o Cargo carrier and unloading mechanism

o Locomotive
o Path guide

Cargo carrier and unloading mechanism

As mentioned earlier there are two different materials (differentiated based on their size) to be
transported from the conveyor area to store area. To transport these materials, we needed two
different boxes to store each material in distinct box temporarily until unloaded at store area.
The unloading mechanism is done using a pulley system. The pulley system is driven using a
continuous servo motor.(the details and important parameters of this motor will be discussed
under section 3.5) Two ropes were attached to the two boxes and runs over the pulley. The motor
is placed at lower height for pulley system efficiency. When the motor rotates, the pulley system
lifts the two boxes up and this is how the unloading mechanism is achieved. To return the two
boxes to the original place, the motor rotates in the reverse direction. This system is composed
of an upper plate (Appendix A-18), a small tower that combines the two wires connected to the
boxes and two cargo boxes itself. (Appendix A-17) All the parts were designed using SolidWorks
and manufactured using a 3D printer. (Appendix A-12 – Appendix A-17)
Locomotive

The locomotive is designed to transport the cargo from conveyor area to the store area in
translational motion, back and forward motion. It has two axles and there are two small tires that
are attached on each axle. The axles are attached on the lower plate of the locomotive. (Appendix
A-13) Four small bearing were used to reduce the friction between the axle the lower plate.
Bearing’s inner diameter is equal to the diameter of the axles, so they could fit perfectly and
there won’t be extra motion. Four small connectors were designed to connect the axles with the
tires. Their dimension is based on the dimensions of the axel and the wheel (Appendix A-19). A
small hole is pierced through the end of the axel in order to tightly attach it to the connector.
The locomotive is driven by a small stepper motor. (the details and important parameters of this
motor will be given under section 3.5) The stepper motor is preferred for this project because
the motion of the locomotive is pre-determined and moves only a few distance which is discrete.
The locomotive is required to get back to a place where it has left (conveyor area). Without using
additional sensor this could be achieved by using stepper motor. Stepper motor keep track of
every steps they made (that is a small fraction of the revolutions they made) while DC motor
keep track of the revolutions they made. In addition to that, the stepper motors have greater
torque, this enables the locomotive to be driven by just one stepper motor.
The stepper motor is mounted on the upper plate.(Appendix A-18) The motor drives only one of
the axles. The rotary motion of the stepper motor is transmitted to the axle by using two gears.
One of the gears is mounted on the head of the stepper motor and the other is mounted on the
axle.

The parts of the locomotive except the axles and gears, were design using SolidWorks and
manufactured by a 3D printer. (Appendix A-14 – Appendix A-20)
Path guide

The motion of the locomotive is predetermined and the distance it moves is already known. To
restrict its motion to one direction a path guide is used. The path guide consists a slider that is
attached to the lower plate of the locomotive (Appendix A-13) and a cylindrical bar that is fixed
at both ends. The cargo transporting system will move on the path guide back and forth.
3.3. Main Control Module Design Scheme
A control module is a collection of sensors, actuators and basic control logic that acts as either a
regulating device, state-oriented device or a combination that is operated as a single device.
Control modules also provide the interface to the sensors and actuators within the unit. Multiple
control modules are used in this project with one being the master and others being slaves. All
the modules communicate with their respective master module. The control modules used in this
project are listed below and their relationship is given by the diagram below.

• Raspberry pi 4
• Arduino
• PCA9685
• ULN2003
• Relay

ULN2003 Arduino uno Rapberry pi 4 PCA9685

Relay

3.3.1. Raspberry pi 4
It is a single board computer with 1.5GHz 64-bit quad-core Arm Cortex-A72 CPU. It needs a power
supply, a monitor, leads to connect to the monitor (typically a micro-HDMI cable) and a mouse
and keyboard. It’s also possible to SSH to it via a local network. In order to do that, the user needs
to connect the working station and the pi to the same local network and the Ip address of the pi.
From experience, using a wi-fi network to download packages for the pi is frustrating, it may fail
a lot of times. Connecting the Pi to the internet through an ethernet cable is the best way to
download packages. If all the necessary packages are downloaded, working offline is possible.

This board is the brain of this project, everything is controlled by it. It is connected to the
Arduino via a two- wire line (one signal and
one ground). Connection with PCA9685
is I2C communication.
 3.3.2. Arduino
The model used here is an Arduino Uno. It is a microcontroller (ATMEGA 328) based platform.
This board is used to control the motion of the locomotive and unloading of the cargo
mechanism. Based on the signal from the raspberry Pi, it sends the appropriate signal to the
continuous servo and the ULN2003 stepper controller.

3.3.3. PCA9685
PCA9685 is a 16-channel servo module. It's an i2c-controlled PWM driver with a built-in clock.
There is need to continuously send it signal tying up your microcontroller, its completely free
running. It is 5V compliant, it is possible to control it from a 3.3V microcontroller and still safely
drive up to 6V outputs. It got 12-bit resolution for each output - for servos, about 4us resolution
at 60Hz update rate. This module has 3 pin connectors in groups of 4 so plugging in 16 servos at
once is possible. There is a spot to place a big capacitor on the V+ line (in case needed). There are
also 220-ohm series resistors on all the output lines to protect them.
This module is used to control the 4 Servo motors of the Robotic arm based on the signal it
receives from the raspberry pi 4.

3.3.4. ULN2003
The ULN2003A is an array of seven NPN Darlington transistors capable of 500 mA, 50 V output.
It features common-cathode flyback diodes for switching inductive loads. The ULN2003 is known
for its high-current, high-voltage capacity. The drivers can be paralleled for even higher current
output. Generally, it can be used for interfacing with a stepper motor, where the motor requires
high ratings which cannot be provided by other interfacing devices.

3.3.5. Relay Module

A relay is an electrically operated switch. It consists of a set of input terminals for a single or
multiple control signals, and a set of operating contact terminals. The switch may have any
number of contacts in multiple contact forms, such as make contacts, break contacts, or
combinations thereof. Relays are used where it is necessary to control a circuit by an independent
low-power signal, or where several circuits must be controlled by one signal.
The relay module is directly connected to the raspberry pi 4 and it is used to control the DC motor
in the belt conveyer by separating the 12v circuit of the DC motor from the 5v circuit of the
raspberry pi 4.

3.3.6. Flow Chart

The systems working steps could be analyzed using a flow chart. We first look at the general
working steps of the whole system and then the transportation subsystem separately. The flow
chart of whole system is given on the left side and transport subsystem is given on the right side
of the next page.
Whole system
1) pin 13 of raspberry pi controls the relay. When it’s high the relay will be turned on and
the dc motor of the conveyer starts running and vice versa.
2) when object is detected, its size is determined with some sets of image processing then
it will be distinguished as big or small.
 3) sets of signals gets sent to the servo module (PCA9685) in order to move the robotic arm
from its idle position to the area where there is vision. It will then grab the detected object
and damp it to the appropriate position on the cargo (big on big side and smaller on the
other side)
4) After some specified rounds of damping the cargo is assumed full. Then, the transport
sub-system gets activated and moves to the opposite side and unloads the materials. Next
it will get back to the default position and the system continues working.
Transportation sub-system
1) if there is a signal from the raspberry pi it gets activated.
2) the stepper motor gets driven some discrete steps in one direction.
3) Then, the continues servo gets activated for some specified time, it wraps the robe and
the unloading happens.
4) the continues servo runs in the opposite direction for some specified time and it unwraps
the robe, the cargo boxes get back to the normal position.
5) the stepper motor rotates the same exact steps in the opposite direction.
3.4. Sensing Module Design Scheme
A sensor module is device that is used to detect some type of input events or changes in physical
environment and send the information to the processor. The specific input could be light, heat,
motion, pressure, or any one of a great number of other environmental phenomena. The output
could be a signal that is converted to human readable display for reading or further processing.
An image sensor is a sensor used to detect and convey information used to make an image. It
does by converting the variable attenuation of light waves (as they pass through or reflect off
objects) into signals, small bursts of current that convey information. Image sensors are used in
electronic imaging devices of both analog and digital types, which include camera modules. A
Logitech C270 camera is used as image sensor in this project. It is a 720/30 fps camera and it’s
compatible with raspberry pi. This camera is used to detect objects on the conveyor belt.

3.5. Implementation of The Modular Design Scheme

In our system there are certain systems like robot arm, locomotive and conveyor belt that are
engaged in motion to some extent, so the use of actuators is necessary. An actuator is a part of
device or machine that helps it to achieve physical movements by converting energy, often
electrical into mechanical force. Simply put, it is the component in any machine that enables
movement. Next we look at the actuators used in this project by parts.
Robotic arm
Four different servo motors were used to actuate the servo motor.
o To rotate the base structure around the vertical axis MG995 servo motor is used

• Weight: 55g
• Dimension: 40.7× 19.7× 42.9mm
• Stall torque: 9.4kg/cm (4.8v); 11kg/cm (6v)
• Operating speed: 0.20 sec/60 degree (4.8v); 0.16sec/60degree (6.0v)
• Operating voltage: 4.8~ 6.6v
• Gear Type: Metal gear

o To rotate the shoulder up and down DS3225 servo motor is used

 • Operating voltage: 4.8 - 6.8V
• Stall torque (5.0V): 21kg/cm
• Stall torque (6.8V): 25kg/cm
• Gear type: Metal
• Size: 40 * 20 * 40.5mm
• Weight: 67g

o To rotate the elbow up and down MG90S servo motor is used.

• Weight: about 13.4g

• Dimension: 22.8 x 12.2 x 28.5mm

• Stall Torque: 1.8kg/cm (4.8V),2.2kg/cm(6V)

• Operating Voltage: 4.8-6.0V

• Gear Type: all metal gear

o to open and close the gripper SG90 servo motor is used

• Operating Voltage: 4.8 ~ 6 V DC Volts
• Stall Torque (4.8v): 1.3kg/cm, (6v): 1.5kg/cm
• Gear Type: Plastic Gears
• Dimensions: 23 x 11.5 x 24mm
• Weight: 9 grams

Cargo carrier and unloading mechanism

o To unload the cargo pulley system was used, which is driven by a continuous servo motor.

• No-load current @ 6V: 120 mA

• Stall current @ 6V: 800 mA
• Speed @ 6V: 130 rpm, @ 4.8V: 100 rpm
• Stall torque @ 6V: 21 oz·in1, @ 4.8V: 18 oz·in1

Locomotive
o To drive the locomotive from the conveyor area to the store area and back a is used.
• Diameter: 28 mm
• Voltage: 5V
• Phase: 4
• Pull-in force:> 34.3 mN.m (120Hz)
• Step angle: 5,625 x 1/64
• Self-positioning force:> 34.3 mN.m
• Dielectric: AC 600V / 1mA / 1s
• Cable length: 24 cm
3.6. Power Supply Module Design Scheme
Different parts of the circuit need different amount of power supply, so separate power supplies
are used for each part. The power supply used for each part is summarized by the table below.

Type of power supply used Part of system

12v 3A AC/DC adapter Dc motor in the conveyer

5v 1A AC/DC adapter Raspberry pi

6v 3A AC/DC adapter PCA9685 Servo module

5v battery pack Arduino uno

4. Product expectations
4.1. Product engineering realization ability
1. It Can be continuous. Automatic sorting system is not limited by time, people and other
physical factors. continuous operation, since the automatic sorting system while sorting unit
time the number of multi-members, so automatic sorting capacity of the sorting system is
continuously running for hours, and it can sort a piece of packaged goods. If manually, it can
only sort about a number of pieces based on hours. At the same time, the sorting personnel
cannot work under such labor intensity. Work continuously for hours.
2. The sorting error rate is low. The error rate of the automatic sorting system mainly depends
on the accurate size of the sorting information input, which in turn depends on the sorting
information input mechanism. The automatic sorting system can automatically sort goods
through barcode scanning, color code scanning, keyboard input, weight detection, etc., with
high recognition rate and low sorting error rate.
3. Cargo safety in addition, the automatic sorting system also has outstanding achievements in
ensuring the safety of goods. The sorting system can store data when it is working, and these
data will be stored in the system. Data storage is mainly to ensure that the goods are sorted
correctly and that the sorted goods will not be lost.
4. Low damage rate Reducing the damage rate of goods is also an important topic for logistics
enterprises. The automatic sorting system scientifically integrates and divides the sorting
process on the basis of comprehensive manual sorting. From loading, scanning, conveying,
pulling distance, drop grid, etc., the impact and collision on the goods are reduced, and the
sorting is carried out in the most "gentle" way. And there is no need for excessive manpower
assistance in sorting, which reduces the damage of goods due to manual sorting and optimizes
sorting management.
5. The sorting operation is basically unmanned. One of the purposes of establishing automatic
sorting systems abroad is to reduce the use of personnel, reduce the labor intensity of workers,
and improve the efficiency of personnel. Therefore, the automatic sorting system can minimize
the use of personnel and basically achieve unmanned. The sorting operation itself does not
require the use of personnel, and the use of personnel is limited to the following tasks:
(1) When the delivery vehicle arrives at the receiving end of the automatic sorting line, the
goods are picked up by the machine.
(2) The operation of the sorting system is manually controlled.
(3) At the end of the sorting line, the sorted goods are collected and loaded by robot arms.
(4) Operation, management and maintenance of automatic sorting system.
4.2. Product market acceptance expectations
The development trend of automation technology abroad is systematization, flexibility,
integration and intelligence. Automation technology continuously improves the technical level
and market competitiveness of optoelectronic automatic control system, traditional
manufacturing and other industries. Its integration and innovation with optoelectronic computer
information technology constantly creates and forms new economic growth points of the
industry, and at the same time continuously provides new management strategy for industry
development.
Increased production capacity of consumer goods and simultaneous monitoring of the batch
products manufactured is a primary factor for employment of sorting machines in respective end
use industries. Growing concern of products is the primary driver of Sorting Machine Market in
the growing urbanization. The Sorting Machines market is expected to witness potential growth
in products industry as they are used in the industry to ensure the quality of raw material used.
Improved automation technologies in Sorting Machines are increasing adoption of Sorting
Machines as it reduces operation, maintenance and waste management cost. Also, Productivity
can also be greatly improved by use of Sorting Machines, Therefor Sorting Machines market is
expected to see huge market growth in coming future.
However, the restraining factor of the sorting machine market is that these Sorting Machines are
costly equipment and their number of extra parts adds extra cost making it very expensive. Also,
the existing installed base which has a fair shelf life will cause limited growth of the market where
relatively a smaller number of new units is likely to be procured by end users. Slowdown of
manufacturing sector in developed economic countries is another factor as a deterrent for the
growth of Sorting Machines market.
Sorting Machines Market: Segmentation on the Basis of Product type, the Sorting Machine
Market is segmented as follow:
• Belt Sorters
• Freefall Sorters
• Channel Sorter
 •Automated Defect Removal (ADR) Sorters
On the Basis of Application, the Sorting Machine Market is segmented as follow:
• Food Industry
• Chemical Industry
• Plastic Industry
• Pharmaceutical Industry
• Wood Industry
• Packaging
• Agriculture
4.3. The effect of the product on environment and sustainable development
sorting is a very crucial task to make the environment green and to ensure better use of the
resources. The proposed system would have a number of features to overcome the limitations
of existing system the features may include the following:
Sorting in Garment Recycling
The same issue around sortation holds true for the garment or textile recycling sector as well.
Garment recycling is a key component of reducing the garment industry's enormous carbon
footprint, but its potential is still not fully realized due to a lack of technology being readily
available to this application, particularly when it comes to sorting.
Garment recovery and reuse for charity purposes is an important component of the recycling
effort, accounting for roughly 50 percent of recovery in countries such as the Netherlands, in
addition to other clothing reuse niches. The other 50 percent, however, must be sorted – still
often manually. In addition to the exhaustive labor requirements associated with manual sorting,
difficulties in identifying specific fabrics have resulted in inadequately sorted textiles being used
for generally more low-grade applications such as stuffing or rags, rather than recovered for
higher grade applications where such material could supplement the use of virgin fiber.
Environmental Impact
The environmental impact reduction associated with the use of recycled fibers is impressive,
according to the development group. In a pilot project with a jean’s manufacturer, the energy
savings of recycled fiber versus virgin was 53%, while the water-saving amounted to 99%, and
the chemical saving was 88%.

5. Summary
In this industrial automatic sorting, we have used a lot of products such as
❖ PROCESSORS:
• MG90 Servo Motor
• Raspberry PI 4 2018 Model B, Arduino UNO
❖ Robot arms:
• Bearing
• PCA9685 Servo Module
• MG995 Servo Motor
 • MG90S Servo Motor
❖ Conveyor System:
• Conveyor Belt
• High Torque DC Motor
• 5V Relay Module
❖ Object Detection:
• Logitech C270 Camera
❖ Transport:
• Bearing
• Tires (x4)
• ULN2003 Stepper Motor Driver
• 28BYJ-48 Stepper Motor
• Steel Axle
❖ Machines
• CNC
• 3D
❖ Software
• SolidWorks
• Master Cam
We have obtained good results from our work. We have determined product indicators by
using solid work software, Master cam,3D and CNC machines, and have tested our work in real
life problem used to grasp materials and sorting to transporters. Through these procedures
• Developing a robotic arm that will pick up an object from a surface and then put it on a
conveyor belt.
• The system will be capable to sort different types of objects in different parts of a
Transporter basing type.
• A mechanism which will be used to differentiate among different types of materials
namely plastic, organic and metal objects.
• The system will also include a database that keeps track of different types of materials
that have been detected in a period of time. This database will help to keep track of how
many items are segregated.
• Apart from this, a mobile app will be developed to operate the robotic arm easily and
remotely
We faced a challenge that the 3D machine could not work properly, and our product failed then
we changed other materials, and there were some problems with the time to grab the material
when coding Raspier pi and our control parts, but finally, we Corrected it. In order to improve
the mechanism, we have to add additional codes to the system to control a mechanism easily
and add features.
The Automatic Sorting Machine works effectively and makes sorting process easy, more
precise and reliable and is more advantageous than the conventional methods reducing
manual efforts, errors and being much efficient. The proposed prototype allows
 achieving an economical and a low-cost automation. The sorting action can be made
flexible according to the industrial needs. In case of any breakdown, the system can be
easily restored and commissioned upon diagnosis
Generally, automatic sorting systems are useful due to fast shipments; Low error; Low labor
intensity of employees; Company output ratio is higher than salary; The company's strength is
improved by a level etc.

6. Course suggestions
This course is really interesting and we have learned so many things from this course we have to
know software's and how to operate machines easily and how to build a control part in software's
and making mechanical parts and organizing robots in a proper way. The advantage of this
course is really amazing that is useful for us to innovate new ideas and to do a good project and
the laboratory configurations are nice we have got every equipment's from the laboratory and the
course management is good as a suggestion the teacher have to give us some illustrations about
the courses, the course content is good but the time is not enough for us to do a better project
rather than this. we need a proper time to do a good job and the 3D machine is not enough for us
to do our work and the machines have a problem due to that our products were failed so many
times, you have to improve the machines in the laboratory .and the teacher has to give us more
guidelines in a ppt form to strive and get information about the projects otherwise the other
things are good. We appreciate the teacher, he is very smart, friendly and he helps us very much,
we Thank you Teacher for your service.
References
[1] G. Wisskirchen et al., “Artificial Intelligence and Robotics and Their Impact on the Workplace,”
London, England, 2017
[2] K. M. Lynch and F. C. Park, Modern Robotics: Mechanics, Planning, and Control. Cambridge:
Cambridge University Press, 2017
[3] E. M. Faidallah, Y. H. Hossameldin, S. M. Abd Rabbo, and Y. A. El-Mashad, “Control and modeling a
robot arm via EMG and flex signals,” in 15th International Workshop on Research and Education in
Mechatronics (REM), 2014
[4] H. Saafi, M. A. Laribi, S. Zeghloul, and M. Arsicault, “Forward kinematic model of a new spherical
parallel manipulator used as a master device,” Int. J. Mech. Robot. Syst., 2016
[5] H. Guo, K.-L. Su, K.-H. Hsia, and J.-T. Wang, “Development of the mobile robot with a robot arm,” in
2016 IEEE International Conference on Industrial Technology (ICIT), 2016