CHAPTER I

INTRODUCTION

1.1. Background of the Study

The study of robotic arm is a highly complex system, and its development has

been a topic of interest for researchers for several decades. A model style

development methodology utilizes the finite element analysis (FEA) for planning the

robotic arm. Within the past few years, the modeling, construction, and evolution of

mechanism arm are terribly dynamic analysis fields everywhere the globe (Anurag et

al., 2020). The Articulated robots are defined as robots containing rotary joints. These

joints are commonly referred to as axes in the robotic world. The structure of an

articulated robot starts with a base that is vertical to the ground and contains the first

joint. The main robot body is connected to the base through this first revolute joint.

Another revolute joint runs perpendicular to the robot body and connects the shoulder

to the body. At the end of the robot shoulder is a parallel revolute joint that is used to

attach the shoulder to the robot arm. Even as advances in technology have led to the

introduction of new robot types, articulated robots have maintained their spot in the

industrial world by continuing to enhance manufacturing processes (Robots Done,

2024).

There is a need to study this problem because the innovation of the industrial

world has become a high technology. The learners need to have an overview of how

the articulated robotic arm works as it is the usual robotic arm used in industries.

Understanding this system allows learners to identify opportunities for streamlining

operations, enhancing productivity, and making informed decisions about

implementing automation technologies to address logistical challenges effectively.

As technology continues to advance, the study of robotic arms would

undoubtedly lead to further advancements in automation and robotics leading to a

brighter future for all, these give onto the researchers to study this particular problem

due to the potential career opportunities in industries such as manufacturing, the

opportunity to gain research experience, the desire to contribute to the field of

robotics and develop innovative applications, and the interdisciplinary nature of the

field, which allows the researchers to develop a broad range of skills and knowledge.

Robotic arms are a popular area of research, and studying them can provide the

researchers with a solid foundation in mechanical engineering, electrical engineering,

and computer science, among other fields, making them well-equipped to tackle a

wide range of challenges and opportunities in their future careers.

1.2 Statement of the Problem

The purpose of the study is to enhance students' comprehension of robotic

arms through the use of a prototype. Robotic arms play a pivotal role in various

industries, and this research aims to provide students with a more profound

understanding of these machines.The study aims to address the technical challenges

associated with the design, control, and integration of such a system, including precise

motion control, object detection and tracking, gripping mechanisms, and seamless

communication with the PLC. By examining the performance and capabilities of the

system, the study seeks to enhance our understanding of the potential applications and

2
benefits of utilizing a PLC-based robotic arm with multiple end effectors in industrial

and education settings.

1.3 Objectives of the Study

The objective of this study is to create a PLC based 3-axis robotic arm with 2

optional end effectors that can perform material handling simulation.

Specifically, the study aims to:

1. Design and construct a PLC-based 3-axis articulated robotic arm with two (2)

optional end effectors.

2. Develop the design specifications of the prototype based on a specific task.

3. Implement an effective Human-Machine Interface (HMI) in the study of

robotic arm systems to improve operator control, enhance usability, and optimize

interaction with the robotic arm.

4. Evaluation of prototype in terms of functionality, efficiency, accuracy, and

precision.

1.4 Significance of the Study

The study provides a practical example of how mechatronics principles can be

applied to design and develop a robotic arm system for pick and place operations.

This system has the potential to increase efficiency and productivity in industries such

as manufacturing, logistics, and packaging. The development of the prototype would

include 3D modeling, PLC Programming, Electro-pneumatics, Electrical wiring

installation, Mechanical and parts assembly.

3
 Moreover, the significance of the study lies in its potential for advancing

robotics technology, improving industrial automation, increasing efficiency and

accuracy, and providing educational opportunities.

1.5 Scope and Limitation of the Study

Scope: The aim of this study is to develop and implement a prototype project, which

would be a PLC-based 3-axis articulated robotic arm with two optional end effectors

for pick and place operations. The study involves conducting experiments and

analyzing data to evaluate the performance of the prototype, specifically its

effectiveness in material handling applications. The study covers the manufacturing

and assembly of the hardware components and software programming of the

prototype. The development and testing of the prototype were carried out using

MSU-IIT facilities and resources.Generally, this study seeks to contribute to the

advancement of mechatronics technology and provide insights into the practical

application of robotic systems in industrial settings.

Limitations: It is important to note that this study wouldn’t be comparing the

performance of the developed prototype to other similar commercial or

research-based systems. Rather, the focus would be limited to the time available for

the development and testing of the prototype at the Department of Bachelor of

Science in Industrial Automation and Mechatronics of MSU-Iligan Institute of

Technology. The robotic arm had three axes, the X, Y, and Z axes, and its load limit

was 300 grams. It had two end effectors, the vacuum and gripper, for pick-and-place

operation. All sizes of the bottle (small, medium, and large) that were used for the

operation have the same diameter for its cap, mouth, and bottom, which is 6 cm for its

4
cap, 5.4 cm for its mouth, and 6 cm for its bottom, but they differ in height; for the

small size, it measures 8 cm, the medium size measures 10 cm, and the large size

measures 12 cm. The robotic arm is limited for picking and placing 1x2 bottles only,

for the reason of the robotic arm’s movement itself because of the bottle, and the

positioning of the conveyor is quite far from the robotic arm because the placement is

quite small.

Additionally, the study would be constrained by the expertise and experience

of the research team in the development and evaluation of the prototype. These

limitations should be considered when interpreting the results and conclusions of the

study.

1.6 Definition of Terms

In this section, it provides concise and clear definitions of key terms that were

used throughout this paper to ensure a common understanding of the concepts and

ideas presented.

Accuracy - measure of how closely observed or measured values align with the true or

accepted values, expressed through the calculation of errors or discrepancies between

the observed and true values.

Algorithm- a sequence of computational instructions or rules programmed into the

robotic system to control the arm's movements, coordination, and actions, enabling it

to perform specific tasks.

Axis- a linear or rotational direction along which controlled movement occurs,

typically facilitated by a motor or actuator, and is configured, calibrated, and validated

5
during commissioning to ensure accurate and coordinated motion for the robotic arm's

intended tasks.

Commissioning- involves systematically configuring, testing, and validating its

mechanical, electrical, and software components to ensure it meets performance

criteria, resulting in a fully operational system ready for its intended tasks.

Efficiency- the ability of the system to achieve its tasks with minimal waste of

resources, time, or energy. It involves optimizing the performance of the robotic arm

to carry out movements, operations, or manipulations in a precise, timely, and

resource-effective manner.

End effector - the specialized tool or device located at the extremity of the arm,

designed and configured during commissioning to perform specific tasks such as

gripping, suctioning.

Functionality- its capacity to execute predefined tasks or operations, encompassing

the proper coordination of axes, sensors, and end effectors.

Material Handling - the capacity and efficiency of the robotic system to grasp, move,

and manipulate various objects or materials, ensuring accurate positioning and

transfer according to predefined tasks.

Optimization- the systematic process of fine-tuning and enhancing the various

parameters, such as motion planning algorithms, control algorithms, and sensor

integration, during commissioning to maximize efficiency, accuracy, and overall

performance, ensuring that the robotic arm operates at its optimal capabilities for the

intended tasks.

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Packaging- the systematic process of using the robotic system to arrange, handle, and

secure items within a specified container or packaging material, typically involving

tasks such as pick-and-place.

Pick and Place- refers to the precise and automated process of using the robotic

system to accurately grasp, lift, and relocate objects from one location to another.

Precision - the measure of its ability to consistently and accurately control the

position and movement of its components, such as axes and end effectors, within

specified tolerances.

Programming- the systematic creation and implementation of instructions or code

that govern the robotic system's movements, actions, and responses, a process

conducted during commissioning to tailor the programming to the specific tasks and

requirements of the intended applications, ensuring the robotic arm operates

effectively and efficiently within its designated parameters.

Sorting- involves the automated and systematic process of categorizing and arranging

objects based on predefined criteria using the robotic system.

Testing- involves the systematic and controlled evaluation of the robotic system's

mechanical, electrical, and software components, conducted during commissioning to

verify and validate its functionality, performance.

7
 CHAPTER II

REVIEW OF RELATED LITERATURE

RATIONALE

Robotics is an exciting field that deals with the design, modeling, analysis, and

implementation of technology that is used to create intelligent machines that can

perform various tasks autonomously. Robotics has numerous applications in industries

such as manufacturing, healthcare, agriculture, and many others. Robots in industries

are continuously evolving and becoming more sophisticated as time passes. They can

perform tasks that were once thought impossible, such as welding, spray coating,

chopping, machining, assembly, cutting, picking, placing objects, stacking, product

checking, and experimenting. With the advancement of technology, robots can now

perform these tasks more accurately, efficiently, and cost-effectively than humans.

Learning robotics is a must for anyone interested in the field of automation

and engineering. It is a multidisciplinary field that involves knowledge in various

fields such as mechanics, electronics, computer science, artificial intelligence, and

control theory. Understanding these disciplines and how they apply to robotics is

crucial in designing and developing intelligent machines that can perform complex

tasks. Overall, the applications of robotics in industries are vast, and the field is

continuously evolving, creating new opportunities for innovation and growth.

Learning robotics can be beneficial for both individuals and industries, as it can

improve productivity, efficiency, and safety in various processes (Loganathan, 2021).

8
 One of the common robotic systems nowadays is the robotic arm. It is a highly

complex system that has been a topic of interest for researchers for several decades.

These systems are used in various industries such as manufacturing, aerospace,

medical, and many others to perform repetitive tasks accurately and efficiently. Finite

part analysis (FPA) is an essential tool used in the design and development of robotic

arms. It involves breaking down a complex system into smaller, simpler parts or

elements, which can be analyzed and optimized using mathematical techniques. FPA

allows engineers to predict the behavior of the robotic arm under different conditions

and identify potential areas for improvement

In recent years, the modeling, construction, and evolution of robotic arms have

been rapidly advancing. Researchers are exploring new materials, designs, and control

methods to create more efficient and capable robotic arms (Anurag Singh, Rashmi

Arora, Yashpal Singh Chouhan, May 2020). The integration of AI optimization has

also made it possible to reduce human error and improve the overall performance of

these systems. Overall, the development of robotic arms has been a significant

breakthrough in the field of automation and has revolutionized various industries by

reducing the need for manual labor and increasing efficiency and accuracy in tasks

(Lingala Purandhara, Sai Santosh, Neeraj Mishra, Swadhin Sri Aurobindo Mahanta,

Vasanthakumar Dharmarajan, Saripella Koushik Varma, Sumit Shoor, June 2021).

9
2.1 Robotic Arm in Axes

An axis in robotics can be thought of as a degree of freedom. Robotic arm

axes are determined by the number of motors. The X-Y-Z axes are typically

represented by three axes. A robot arm with three axes cannot tilt or turn. An effective

illustration of a 3-axis robot arm is a crane. More axes allow a robot to access more

space. Every robot comes with a number of axes that cannot be added later. For the

needs of pick and place, a straightforward 4-axis arm will be sufficient. A 6-axis robot

arm will suit your educational needs, though, if the arm must be able to reach every

point in space (Dobot,2023).

Ahmed et al.(2019) describes the mechanical design of the robotic arm and

presents the kinematic and dynamic modeling of the arm using Denavit-Hartenberg

(DH) parameters. The study also suggests that the addition of a fourth axis to the

robotic arm could improve its versatility and expand its range of applications.

Li. et al. (2019) proposes a novel path planning method based on the genetic

algorithm and adaptive particle swarm optimization algorithm to generate the optimal

path for the robotic arm. The study includes the experimental validation of the

proposed method on a 3-axis robotic arm system, where the robotic arm is tasked to

pick and place an object from one position to another with high precision. The authors

demonstrate that the proposed path planning method improves the positioning

accuracy of the robotic arm, and the real-time control system based on the PID control

algorithm ensures the stability and smoothness of the robotic arm motion.

Robotic 3-axis micromanipulators are currently being used in the Stardust and

Cosmic Dust laboratories for small particle curation, and NASA Curation has

previously investigated the application of robot arms. Even though 3-axis

10
micromanipulators have been very effective for tasks involving the transfer of isolated

particles in the 5–20 micron range (for example, from a microscope slide to an epoxy

bullet tip or a beryllium SEM disk), their limited ranges of motion and lack of yaw,

pitch, and roll degrees of freedom limit their utility in other applications. (Snead, C.

J., Jang, J. H., Cowden, T. R., and McCubbin, 2018)

2.2 Robotic Arm in Industrial Processes

The non-stop development of our technology is still likely growing until these

days, turning most industrial automation as flexible and programmable that makes it

easier for the user to learn from it (Tsai, 2015 as cited in Yenorkar & Chaskar, 2018).

This impact made a difference in the world of technology and industrial automation,

enhancing the collaboration between humans and machines. Industrial robotic arm is

used in pick and place tasks with repetitive action such as moving parts, sorting and it

is basically used in assembly lines which is commonly found in industrial processes.

(Yenorkar & Chaskar, 2018).

Robotic arms are invented in industry to perform repetitive tasks, reduce labor

costs and achieve the required quality control of the process. For pick and place

operations, the basic requirements of the base arms are high speed and reliability, and

the robot gripper should be the least expensive and have a simplest design. Basic

operation starts with a simple task of grabbing, lifting, moving, placing, and releasing

in a unique robotic arm system. (Rajgure et al., 2020).

Robotic arms existed to perform tasks with high precision, countless functions,

with a purpose of reducing human workforce and involvement. However, even if

there is massive improvement and development. Robotic arms exist and mostly take

place in most or if not all industries. Toyota had utilized the use of robotics to make

11
cars that produced 833,104 of brand new cars products within the day. The utilization

of Toyota corporation has triggered and stimulated the use of robotics in

manufacturing, production and construction. Although robotics reduces the workload

of humans in manufacturing, production and construction, it doesn’t have to eradicate

human-machine collaboration (Reuters, 2022).

2.3 Robotic Arm for Repetitive Movement

Robotic arm is simply defined as a mechanical device that performs

predefined automated tasks and movements under human supervision (Rajgure, et al.,

2018). Robotic arm emphasizes its ability to have multiple degrees of freedom and to

be designed for heavy-duty applications, allowing it to perform complex and precise

tasks in industrial settings (Wu, Y., Li, Y., Li, J., Wang, R., & Gao, Z. ,2020).

Industrial robots must have their designs improved in order to improve their

performance, which will guide future advancements in the robotics sector. Therefore,

there is an effort to present the idea of the robot's optimal design by taking into

account various design parameters, making it more effective and reliable for use in the

manufacturing industry (K Raza, TA Khan, N. Abbas, 2018).

Simple repetitive tasks can be completed with the demands of accuracy and

speed by introducing autonomous robotic applications. Every company today needs

speed in manufacturing to keep up with the demands of the rapidly expanding

industrial age. Our project's main goal is to create a flexible, affordable robotic arm

that can be used in any industry to solve this issue (Shah, Pandey, 2018). Pick and

place is one of the many tasks a robot arm is used for in industry. To facilitate the

12
development of many industrial tasks, especially on a laboratory scale, rapid robot

arm prototyping is required (Tahtawi, M Agni, 2021).

The easy manipulation of the arm and the fact that it has an all-in-one solution

for a specific range of pick and place applications are the unique features that we are

emphasizing in our work (Yenorkar, Chaskar, 2018). In addition, it is also a

mechanical device that can be designed for specific tasks such as picking and placing

large-scale aerospace components (Zhang, B., Bai, Z., Fan, J., Wang, X., & Liu, X. ,

2021). The robotic arm in this study was designed to have key technologies that were

optimized for its specific task, such as a flexible gripper and a visual positioning

system.

2.4 Robotic Arm for Sorting

A robotic arm can be programmed to perform a wide variety of tasks,

including sorting. Sorting tasks can involve identifying and separating objects (Shah

R., Pandey A.B., February 2018) based on their size, shape, color, weight, or other

characteristics.

The robotic arm needs to be trained to recognize the objects it is supposed to

sort. This can be done using computer vision technology (Vo Duy Cong, Le Duc

Hanh, Le Hoai Phuong, Dang Anh Duy) or other sensors that can detect the

characteristics of the objects.Once the objects are identified, the robotic arm needs to

be programmed to sort them according to specific criteria. For example, the arm

might be instructed to sort objects based on their size or color.Once the sorting criteria

are defined, the robotic arm needs to be programmed to move in the appropriate way

13
to sort the objects. This can involve a series of predetermined movements or more

advanced algorithms that enable the arm to adjust its movements based on real-time

feedback (Alexander C. Abad, Dino Dominic Ligutan, Elmer P. Dadios, Levin Jaeron

S. Cruz, Michael Carlo D.P. Del Rosario, Jho Nathan Singh Kudhal, 2018). After the

sorting program is developed, it needs to be tested and refined to ensure that the arm

is sorting the objects correctly and efficiently. This can involve making adjustments to

the program or fine-tuning the arm's movements.

2.5 Robotic Arm Gripper End Effector

For the end effector, a robotic arm gripper is attached to the end of a robotic

arm to enable the arm to grip, hold, and manipulate objects. Grippers are an essential

component of robotic arms in manufacturing, assembly, and other industries that

require precision and speed in object handling. Robotic arm grippers come in different

types, designs, and materials depending on the specific application and the

characteristics of the objects being handled. To hold the objects, a mechanical gripper

is utilized, and the gripper has an integrated mini servo that allows it to open or close

its jaws to grasp the object while moving it from one place to another (Vaibhav Pawar

et. al,March 2018).

2.6 End Effector for Mechanical Gripper

A mechanical gripper is one of the types of gripper that is used in this study to

hold and manipulate objects through the use of mechanical force. Mechanical grippers

can be found in a wide range of applications, including manufacturing, material

14
handling, and assembly operations.Mechanical grippers typically consist of two or

more jaws that can be opened and closed to grip objects of different shapes and sizes.

The jaws may be designed to move in a parallel motion or an angled motion,

depending on the application.

Some mechanical grippers may also include sensors or other mechanisms to

help with object detection and positioning.(Rishabh Chaturvedi , Anas Islam , Aman

Sharma , Kamal Sharma , Rohit Sharma.April 2020).One advantage of mechanical

grippers is that they can be designed to provide a high degree of gripping force,

making them suitable for applications that require a strong grip. They can also be

designed to provide precise control over the gripping force (Daniel Cardin-Catalan,

Simon Ceppetelli, Angel P. del Pobil, Antonio Morales, June 2021); which can be

important in certain applications, such as handling delicate or fragile objects.

2.7 End effector for Vacuum Gripper

In addition, a vacuum gripper is the other option to use as an end effector for

this stud.Vacuum grippers are typically used in various industrial fields for tasks such

as clamping and lifting. To pick up a target part, this kind of gripper uses suction cups

that are connected by a vacuum line. Vacuum grippers occasionally have trouble

picking up a part during an operation because of poor surface conditions or

improperly optimized control variables for various products. However, it can be

difficult to predict whether the current operation will be successfully carried out using

a mechanical gripper.

15
 Vacuum grippers use suction cups, air pipes, and Venturi lines to handle

objects, and an external air compressor is needed to provide compressed air. Vacuum

grippers, in particular, are frequently used for lifting, transporting, and inspections

because they are easy to use with fragile objects, inexpensive to install, and capable of

handling a variety of object shapes. They are particularly useful in discrete

manufacturing processes where several common operations involving vacuum

grippers are typically carried out.(Jamaludin, A.S, 2020).

The most crucial component of an industrial robot is the gripper. It has to do

with the robot's surroundings. In order to find the right repeatability and behavior,

engineers must now fine-tune and design specific industrial robot grippers for each

application. Vacuum suction is one of the grippers in Watch Case Press Production

(WCPP), and it serves as a mechanism to increase the effectiveness of the

manufacturing process. The key steps in the annealing process are pick and place.

Thus, the pick and place process can be enhanced by the use of vacuum suction

grippers. Along with designing vacuum suction mechanisms, the vacuum gripper's

other goal is to compare its efficiency to that of the traditional pick-and-place gripper.

With the help of a vacuum suction gripper, it is possible to schedule, skip, and

reduce the number of operations required to complete a process while still

transporting the parts. This study increased the pick-and-place process' effectiveness,

which has a quicker impact on annealing process output. The vacuum suction gripper

can pick up every component during production, reducing productivity losses. A

vacuum suction gripper, in sum, cuts the cycle time by about 20%. Reduced cycle

times and more frequent processes made possible by vacuum suction grippers can

increase production flexibility. (M. N. M. Raali,2020).

16
2.8 Robotic arm with various end effectors

The arm is only responsible for positioning. An end effector is necessary for

actual environmental interaction. Some common choices are grippers, sprayers,

grinders, welders, and vacuums, and many other options are available. There is a large

variance in complexity, ranging from flush mounted, non- moving parts to

multi-jointed, multi-sensor parts with various inputs and outputs. End effectors are

typically chosen based upon the application, and many arms will fit multiple end

effectors. (A. K. Tuyal, 2019)

2.9 Comparison of Studies

Figure 2.0 Venn Diagram of Related Literature and Studies

Figure 2.0 provides a visual representation of a comparison and contrast

between various research-related literature and studies related to Programmable Logic

Controller, Robotic Arm in Axes and the Two(2) Optional End Effector. The figure

includes the specific author’s name and the year of publication.

17
2.10 Synthesis

Thus, based on the existing research and advancements in the field of robotics,

it can be concluded that robotic arms are the workhorses of many industrial

applications. Their ability to perform repetitive tasks with precision and speed makes

them ideal for assembly lines, sorting stations, and other demanding environments. To

achieve this level of versatility, robotic arms rely on multiple axes of movement,

allowing them to reach, bend, and manipulate objects in complex ways.

This adaptability is further enhanced by the use of end effectors, specialized

tools attached to the arm's "wrist." These come in various forms, such as mechanical

grippers for firmly grasping objects or vacuum grippers for handling delicate or

smooth surfaces. By equipping a robotic arm with the appropriate end effector, it can

tackle a diverse range of tasks, making it a truly valuable asset in the industrial

setting.

18
2.11 Conceptual Framework

Figure 2.1 Conceptual Framework

Figure 2.1 Shows the conceptual framework of the study. This framework

provides an organized method for creating a prototype of a PLC-Based 3 Axis

Robotic Arm with two (2) optional end effectors . It contains steps such as designing,

developing, testing, and evaluating the prototype. By integrating necessary inputs,

defining specific processes, and identifying desired outcomes, this framework ensures

a systematic and organized development process.

19
 CHAPTER 3

RESEARCH METHODOLOGY

This chapter describes the method of research design, respondents of the

study, instruments used, data gathering procedures and statistical analysis of the data.

Figure 3.1. Workflow Diagram

Figure 3.1 contains the diagram that represents the workflow or sequential

process of the system.

20
3.1 Research Design

The research method that could be appropriate for this study would be

developmental research. This is because the study aims to develop and implement a

PLC-based 3-axis robotic arm pick and place operation with two optional end

effectors. Developmental research involves investigating the sequential progression of

the arm's capabilities and behaviors over time, as well as understanding the

underlying mechanisms and factors that contribute to its growth and skill acquisition.

Through developmental research, researchers could collect quantitative data by

measuring and observing the performance of the robotic arm. This data includes

metrics such as speed, accuracy, efficiency, and success rates in material handling and

industrial automation tasks. By analyzing this data, researchers drew conclusions

about the effectiveness of the prototype, identified its limitations, and made informed

recommendations for improvement or optimization.

The design specifications of a robotic arm that researchers aim to develop

would depend on the intended application and specific requirements. Generally,

robotic arms are designed to perform tasks that are dangerous, repetitive, or beyond

the capabilities of humans, therefore they must be precise and accurate. To achieve

these goals, researchers aim to develop robotic arms that are lightweight,

energy-efficient, and require low maintenance.

In addition, researchers aim to design robotic arms with strength, and

end-effectors that could be customized for specific applications. The control system is

also an essential part of the design, as it must be able to direct the arm's movements,

provide feedback on its position and orientation, and ensure its safe and efficient

operation. By incorporating these design specifications, researchers could develop

robotic arms that could be used in a wide range of industries, such as manufacturing.

21
3.2 Research Locale

This research was conducted in the department of Bachelor of Science in

Industrial Automation and Mechatronics, located in the building of School of

Engineering Technology in Mindanao State University-Iligan Institute of Technology.

3.3 Sample and Sampling Techniques

The study aims to identify the robotic arm’s accuracy, efficiency, precision and

functionality by conducting trial tests. By doing so, it determined the robotic arm’s

data while it’s performing the programmed operation and the data gathered after

conducting the trial tests were in tabulated form that is shown in Appendix A, A.1,

A.2, A.3, B, C, C.1,D, D.1, D.2 and D.3.

The tables shown in Appendix A, A.1, A.2, A.3 were used as a checklist for

Robotic Arm’s accuracy, Appendix A consists of a mechanical gripper (before

optimization) checklist table, Appendix A.1 consists of mechanical gripper (after

optimization) checklist table, Appendix A.2 consists of vacuum gripper (before

optimization) checklist table and Appendix A.3 consists of vacuum gripper (after

optimization) checklist table. In line with sequence operation consist of small-small,

medium,medium, large-large, small-medium, medium-large and small-large it will

perform the picking and placing of the bottle indicated by Point 1 (for small bottle),

Point 2 (for medium bottle), Point 3 (for large bottle), Point 4 (for Slot 1 in the

container), and Point 5 (for Slot 2 in the container) during its operation consistently.

The table shown in Appendix B were used as a checklist and the data gathered

determined the Robotic Arm’s end effectors precision in terms of gripping and

22
releasing of the bottle while performing the sequence operation of both mechanical

gripper and vacuum gripper.

Appendix C was a checklist for robotic arm’s functionality (before

optimization). Thus, Appendix C.1 for robotic arm’s functionality (after

optimization).

The efficiency of the robotic arm mechanical gripper (before optimization)

were shown in Appendix D, robotic arm mechanical gripper (after optimization) were

shown in Appendix D.1, robotic arm vacuum gripper (before optimization) were

shown in Appendix D.2 and robotic arm vacuum gripper (after optimization) were

shown in Appendix D.3.

The tables consist of test trials for robotic arm’s movement over 30, in order to

calculate the component’s consistency in the field of accuracy accompanied by

efficiency in pick and place movements during its sequence operation. The precision

of the end effector in gripping and releasing during the sequence operation. Lastly, the

functionality of the robotic arm and conveyor motor during the whole process of its

programmed operation to identify and modify it to be more reliable. The gathered data

of the robotic arm’s accuracy, efficiency, precision and functionality during trial tests

were analyzed and computed by the proponents. The results were shown in

percentage form and bar graph form using this formula: Success Rate = (Number of

successful trials / Total number of trials) x 100.

𝐴 = ( ) × 100%
𝑋
𝑌
eq’n (1)

23
 Figure 3.2 Workspace

Figure 3.2 shows the workspace (minimum and maximum) area within which

the arm can reach, manipulate objects, and perform tasks, determined by its range of

motion and physical constraints.

24
3.4 Research Instruments

Testing the prototype considered categories, tables and questions were given

to test each category: Functionality and Efficiency of the Robotic Arm and the

Tolerance of the prototype in terms of product quality. The study uses the tables to

collect the information discovered while testing the Robotic Arm’s operation and

effectiveness.

A checklist for trial and error was utilized as the research tool for this project's

data collection in order to evaluate the prototype system's tolerance in terms of

product quality and productivity and to pinpoint areas for improvement. The checklist

for trial and error were disseminated and carried out by the proponents, following the

proponents' instruction in the system prototype's demonstration. In order to analyze

the study problems under consideration, during the testing phase, trials were done to

test the functionality of the components and at the same time the efficiency of the

robotic arm to pick and place the workpieces in the designated location. The data

were tabulated to obtain the statistical mean and the required percentile functionality

and efficiency during the commissioning and optimization of the prototype systems of

operation.

The statistics formula for the mean is shown below.

Σ 𝑥𝑖
𝑀𝑒𝑎𝑛 𝑥 = 𝑛
eq’n (2)

Where the 𝑥 is the data set mean, Σ 𝑥𝑖 are summation of data points and n are the

number of data points in the set.

In order to determine and compute the robotic arm’s angle and movement this

formula was used to calculate the result and convert it into data that was used in

programming.

25
 1𝑝𝑢𝑙𝑠𝑒 = 0. 9° eq’n (3)

𝑥 (𝑝𝑢𝑙𝑠𝑒) = 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑛𝑔𝑙𝑒 ° ( 1 𝑝𝑢𝑙𝑠𝑒

0.9° ) eq’n (4)

After calculating the result, the computed pulse would then be multiplied by 3

(for Arm & Boom gear ratio) and 4 (for swivel gear ratio) then the data were imputed

into the PLC program.

𝑑
𝑆𝑤𝑖𝑣𝑒𝑙: 𝑟 = 𝑐𝑜𝑠ϕ
eq’n (5)

𝑟 = 𝑟1 + 𝑟2

𝑟 = 𝑙1𝑐𝑜𝑠θ + 𝑙2𝑐𝑜𝑠β eq’n (6)

𝑟=𝑟

𝑑
𝑐𝑜𝑠ϕ
= 𝑙1𝑐𝑜𝑠θ + 𝑙2𝑐𝑜𝑠β

𝑑 = 𝑙1𝑐𝑜𝑠θ𝑐𝑜𝑠ϕ + 𝑙2𝑐𝑜𝑠β𝑐𝑜𝑠ϕ eq’n (7)

𝐴𝑟𝑚 ℎ𝑒𝑖𝑔ℎ𝑡: ℎ = ℎ1 + ℎ2

ℎ = 𝑙1𝑠𝑖𝑛θ + 𝑙2𝑠𝑖𝑛β eq’n (8)

Where ϕ is the angle for swivel motor, θ and β are the angle for the boom and

arm motor, 𝑙1 and 𝑙2 are the length of the boom and arm, ℎ1 and ℎ2 is the height of the

26
boom and arm motor in which ℎ is the total height of target object to be picked, 𝑑 is

the perpendicular distance of the center of the robot to the target location, and lastly, 𝑟

is the total extended distance of the boom and arm of the robotic arm.

E.g. ϕ:

𝑑
𝑟= 𝑐𝑜𝑠θ

200𝑚𝑚
347𝑚𝑚 = 𝑐𝑜𝑠θ

200𝑚𝑚
𝑐𝑜𝑠ϕ = 347𝑚𝑚

ϕ = 𝑐𝑜𝑠 (
−1 200𝑚𝑚
347𝑚𝑚 )
◦
ϕ = 54. 80

3.5 Development of Prototype

Developing a prototype typically involves several steps. First, the design

specifications are established based on the intended application and requirements.

Then, the mechanical parts and components are designed using Autodesk Fusion 360

software and assembled based on the design. The dimensions of the prototype were

determined based on the desired range of motion and payload capacity. Schematic

diagrams are also created to guide the assembly process and ensure the correct

connections between components.

The prototype is then programmed using software and hardware components

to enable it to perform the desired tasks. The control system was designed to direct the

arm's movements and provide feedback on its position and orientation. Testing and

iteration are critical components of the development process to ensure that the

prototype meets the design specifications and performs as expected.

27
3.5.1 The Assembly of Prototype

This section involves the construction of the Robotic Arm and various

components and parts.

Figure 3.3 The complete design of the “ PLC-Based 3 Axis Articulated Robotic Arm

with two (2) optional end effector”.

28
Figure 3.3 shows the complete design of the prototype and its corresponding labels as

follows:

1. Conveyor Belt- a continuous loop of material or objects used for efficient

transportation of the bottles.
2. Conveyor Platform- a flat surface equipped with conveyor belts and
rollers.
3. Processing Lamp- a specialized lighting system integrated into the
robotic arm or the work area, designed to provide optimal illumination for
the robot's vision system or to enhance visibility during the execution of
tasks.
4. Bottle Case- a container or crate designed to hold and transport bottles.
5. Bottle Platform- a designated area or surface where bottles are
positioned or arranged for processing or handling by the robotic arm.
6. Large Bottle- a container with a larger-than-average size.
7. Parallel Gripper- type of robotic end-effector (the tool attached to the
end of the robotic arm) that consists of two opposing jaws or fingers that
move parallel to each other.
8. Robotic Arm- a mechanical device consisting of multiple joints and
links, resembling a human arm, which is capable of performing pick and
place tasks.
9. Medium Bottle- a container with a size falling between small and large
bottles.
10. Small Bottle- a container with a relatively compact size.
11. NEMA 17 Stepper Motor- providing the necessary torque and precision
to move the arm's joints and end effector (the tool or gripper at the end of
the arm) in a controlled manner. By precisely controlling the electrical
pulses sent to the motor windings, the robotic arm can achieve accurate
and repeatable movements required for various tasks such as
pick-and-place operation.
12. Vacuum Generator- utilizes air pressure differentials to create suction
and generate a vacuum for the purpose of gripping and manipulating
objects.
13. Gripper Controller Case- a housing or enclosure containing the
electronic components and circuitry used to control a robotic gripper.
14. Pneumatics Valves- control the flow of compressed air in pneumatic
systems.
15. Relays- utilized to interface between the low-power control signals
generated by the robot's controller or computer and the high-power
devices that drive the arm's motors or other actuators, enabling the precise
and coordinated movement of the robotic arm's joints and end effector.
16. DIN Rails- mount and organize electrical and electronic components
within control cabinets, enclosures, or panels.

29
17. Human Machine Interface- refers to the interface through which a
human operator interacts with the robotic system. It typically includes a
graphical display, touchscreen, buttons, or other input devices that allow
the operator to monitor the robot's status, control its movements, adjust
parameters, and receive feedback on the operation.
18. Aluminum Profiler- aluminum profilers are used to construct the frame
or structure of the robotic arm.
19. Electrical Circuit Breaker- protect electrical circuits and equipment
from overcurrents and short circuits.
20. Start Push Button- a manually operated switch used to initiate or begin a
specific sequence of operations. It serves as a user interface component
that allows an operator to start or activate the robotic arm system.
21. Stop Push Button- a manually operated switch used to halt or terminate
the operation of the robotic arm system. It serves as a safety feature that
allows operators to quickly stop the robotic arm in case of emergencies,
malfunctions, or unsafe conditions.
22. Reset Push Button- a manually operated switch used to restore the
system to a safe and operational state after a stop condition or fault has
occurred. It serves as a means to clear any fault or error that caused the
system to stop, allowing for the resumption of normal operation.
23. Selector Switch- a manually operated switch with multiple positions that
allows the operator to choose between different operating modes or
functions.
24. Emergency Stop Push Button- a safety device designed to quickly and
effectively halt all motion and operations of the robotic arm system in
emergency situations.
25 Programmable Logic Controller- serves as a central control unit
responsible for coordinating the arm's movements, executing
programmed instructions, and ensuring safe and efficient operation.
26 Power Supply- an essential component that provides electrical power to
drive the various components of the robotic arm system, including
motors, actuators, controllers, and sensors, ensuring their proper
functioning and enabling the arm to perform its tasks effectively.
27 Stepper Motor Drivers- are electronic devices that control the
movement and position of stepper motors by converting electrical signals
from the controller into precise sequences of current pulses, allowing for
accurate and controlled motion of the robotic arm's joints and actuators.
28 Power Supply Terminals- are connection points where electrical power
is delivered to the various components of the system, including motors,
controllers, sensors, and other electronics, providing the necessary
voltage and current for operation.
29 Robotic Arm Platform- the structural base or framework upon which the
robotic arm is mounted or integrated, providing stability, support, and a
foundation for the arm's movement and operation within its intended
environment or workspace.

30
30 Table Platform- flat surface or structure where the robotic arm is
installed or placed for operation. This platform serves as a stable base for
the robotic arm, providing support and a workspace for performing tasks.
31 Wire Duct- organize and protect electrical wires and cables within the
robotic arm system.
32 Conveyor Motor- drive the conveyor belt or mechanism that transports
the bottles within the robotic arm's workspace.
33 Conveyor GT2 Pulley- providing positive engagement and precise
motion control for conveying bottles along the conveyor system within
the robotic arm setup.
34 Case Sensors- detect the presence or absence of cases or containers
within the workspace of the robotic arm.

31
 Figure 3.4 3D Design of Robotic Arm

Figure 3.4 shows the 3D design of Robotic Arm with an end effector (vacuum)

for securely gripping and lifting objects with suction power.

32
 Figure 3.5 3D Design of Robotic Arm

Figure 3.5 shows the 3D design of the Robotic Arm with an end effector

(gripper) for firmly grasping and manipulating objects with precision and control.

33
 Figure 3.6 Robotic Arm

Figure 3.6 shows the front view 3D structure of the Robotic Arm with its

dimensions (in mm).

34
 Figure 3.7 Robotic Arm

Figure 3.7 shows the side view 3D structure of the Robotic Arm with its

dimensions (in mm).

35
 Figure 3.8 Exploded View

Figure 3.8 shows the exploded view of the Robotic Arm and its corresponding

labels as follows.

Modified Boom Base- the structure or platform at the lower end of the
1. arm, providing support and allowing for
rotation or movement.

36
 Base Mounting- the attachment or connection of the arm to its
2.1 supporting structure or platform, allowing for stability and controlled
movement.
Swivel- the capability of rotating a specific joint or component, allowing
3.1 for flexible movement and positioning.
Modified Base- platform that provides support for the arm and enables
5.1 its rotation or movement.
Boom Arm- the extendable and movable section responsible for
7.1 reaching and manipulating objects.
Boom Pin Sleeve- the connection or articulation mechanism of a boom
8.1 in a robotic arm, possibly involving a pin and a sleeve for joint
movement or stabilization.
Arm Driven Pulley- a mechanism utilizing a pulley system, often
9.1 motor-driven, to control and facilitate the movement of the arm,
enabling precise positioning and manipulation of objects.
Boom Driven Pulley 1- integrated into the boom structure to control
10.1 and facilitate the movement of the arm, enabling precise positioning and
manipulation of objects.
Modified Arm- the articulated limb or structure designed for
11.1 manipulation, often composed of interconnected joints and links.
Modified Left Tri Link- a three-linked segment or component, often
12.1 representing a structural element with three interconnected links, joints,
or sections.
Base to Arm Link- the structural component connecting the arm to the
13.1 base, facilitating the arm's movement and providing support.
End Effector Final- the tool or device located at the extremity of the arm
14.1 that interacts with the environment
End Effector Link- the segment or component at the extremity of the
15.1 arm responsible for carrying out specific tasks
Gripper and Vacuum Assembly- a mechanism or tool
17.1.1.1- at the end effector designed for gripping and suctioning.
17.6.1
NEMA- 17- a specific stepper motor conforming to the NEMA 17
18.7.3.6 standard.
Pulley- control and facilitate the movement of the arm, enabling precise
19.1 positioning and manipulation.
Arm Limit Switch- detect the physical limits of the arm's movement,
22.1 preventing it from exceeding predefined boundaries.

37
 Figure 3.9 Platform

Figure 3.9 shows the front view of the platform with its dimensions (in mm).

Figure 3.10 Platform

Figure 3.10 shows the side view of the platform with its dimensions (in mm).

38
 Figure 3.11 Conveyor

Figure 3.11 shows the 3D design of the conveyor, enabling automated

assembly or sorting processes.

Figure 3.12 Conveyor

Figure 3.12 shows the front view of the conveyor with its dimension (in mm).

39
 Figure 3.13 Conveyor

Figure 3.13 shows the side view of the conveyor with its dimensions (in mm).

Figure 3.14 Control Panel

Figure 3.14 shows the 3D structure of the control panel with pushbuttons, EM

stop,selector switch and its dimensions (in mm).

40
 Figure 3.15 Casing

Figure 3.15 shows the 3D structure of casing with dimensions (in mm), the

housing that encapsulates the bottle for pick and place operation.

Figure 3.16 Stepper Motor Driver

Figure 3.16 shows the 3D structure of Stepper Motor Driver, which is an

electronic device or module that provides the necessary control signals and power

amplification to drive a stepper motor.

41
3.6 Testing of Prototype

Testing the actual runs of the prototype typically involved several steps. First,

the arm's design was evaluated to ensure that it meets the intended specifications and

requirements. Next, the arm was assembled and tested for functionality, including its

range of motion, accuracy, and speed. The arm may also be tested in various scenarios

to evaluate its performance under different conditions. Any issues that arise during

testing are addressed, and the arm is refined and retested until it meets the necessary

criteria for deployment. Throughout the testing process, data were collected and

analyzed to inform design decisions and optimize the arm's performance.

When testing a prototype, it is crucial to prioritize safety to prevent injury or

damage to the equipment. The first step is to ensure that all personnel involved in

testing are properly trained on the operation and safety protocols of the arm. It is

necessary to establish clear boundaries and warning signs to prevent unauthorized

personnel from entering the testing area. The arm should be tested in a controlled

environment with appropriate safety measures, such as emergency stop buttons and

protective barriers. Regular maintenance and inspection of the arm should be

conducted to ensure that it is operating safely and efficiently. A thorough risk

assessment should be conducted before testing to identify potential hazards and

implement appropriate risk reduction measures.

42
Table 3.1 Checklist for the Prototypes Motions

MOTIONS FUNCTIONAL NOT FUNCTIONAL

X- Axis

Y- Axis

Z- Axis

Pick and Place

End Effector (Gripper)

End effector(Vacuum with fittings

3.6.1 Software Integration

The control system of the prototype uses an OMRON CP2E- N30DT-A

programmable logic controller (PLC) that is programmed and maintained using

CX-Programmer, the programming software for all Omron's PLC series, was fully

integrated into the CX-One software suite. CX-Programmer includes a wide variety of

features to speed up the development of your PLC program. New parameter-setting

dialogues reduced setup time, and with standard function blocks in IEC 61131-3

structured text or conventional ladder language, CX-Programmer made development

of PLC programs a simple drag & drop configuration.

3.6.2 Control Circuit

The prototype's electro-pneumatic circuit is controlled by an OMRON

Programmable Logic Controller (PLC) model CP2E-N30DT-A. Omron Industrial

Automation CP2E Programmable Logic Controllers are micro programmable

controllers designed to support data collection and Machine-to-Machine (M2M)

43
communication. Omron Industrial Automation CP2E controllers are an efficient

solution for flexible production, traceability, and machine monitoring. The series

offers a version with two built-in Ethernet ports with Ethernet switching functionality.

These programmable logic controllers also provide up to three serial ports and an

optional four-axis positioning function with linear interpolation.

Figure 3.17 Pneumatic Diagram

Figure 3.17 shows the format of the electro-pneumatic, which is the vacuum

gripper.

44
3.6.3 Flowchart of the Prototype’s Operation

It contains the diagram that represents the workflow or sequential process of

the system.

Figure 3.18 Flowchart of the Prototype’s Vacuum Operation

45
Figure 3.19 Flowchart of the Prototype’s Mechanical Gripper Operation

46
3.6.4 Operation of the Prototype

Figure 3.20 Illustration

Figure 3.20 shows the initial position of the Robotic Arm.

Operational Sequence

GRIPPER : Switch the selector switch to Gripper.

The following sequence will execute:

(If choosing 2 small size bottles)

1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick again the small size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 2 medium size bottles)

1. Pressing the pushbutton, the arm will pick the medium size bottle in the

picking area and will place it in the case -slot number 1.

47
2. After placing the bottle in the case, the arm will pick again the medium size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 2 large size bottles)

1. Pressing the pushbutton, the arm will pick the large size bottle in the picking

area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick again the large size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 small size bottle and 1 medium size bottle)

1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the medium size bottle

in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 small size bottle and 1 large size bottle)

1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the large size bottle in

the picking area and will place it in the case -slot number 2

48
3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 medium size bottle and 1 large size bottle)

1. Pressing the pushbutton, the arm will pick the medium size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the large size bottle in

the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

NOTE:

● The user again selects what size of bottles wants every after sequence and

then press START.

● When the robotic arm is in operating mode, the GREEN lamp will FLASH.

● Pressing the Emergency Stop Pushbutton, the RED lamp will FLASH and

the system will stop.

● Pressing the STOP pushbutton, the YELLOW lamp will flash. And the

system will pause to its last sequence until the output pulse is done.

● Pressing the START push button -the system will continue its sequence in

placing the bottle to the case.

● Pressing the Emergency Stop Pushbutton the Robotic Arm will

automatically full stop, but the gripper is ON not until pressing the RESET

pushbutton, it will release.

49
VACUUM: Switch the selector switch to Vacuum.

( If choosing 2 small size bottles)

1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick again the small size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 2 medium size bottles)

1. Pressing the pushbutton, the arm will pick the medium size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick again the medium size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 2 large size bottles)

1. Pressing the pushbutton, the arm will pick the large size bottle in the picking

area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick again the large size

bottle in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 small size bottle and 1 medium size bottle)

50
1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the medium size bottle

in the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 small size bottle and 1 large size bottle)

1. Pressing the pushbutton, the arm will pick the small size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the large size bottle in

the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

( If choosing 1 medium size bottle and 1 large size bottle)

1. Pressing the pushbutton, the arm will pick the medium size bottle in the

picking area and will place it in the case -slot number 1.

2. After placing the bottle in the case, the arm will pick the large size bottle in

the picking area and will place it in the case -slot number 2

3. When the case is full, the robotic arm will initialize and the conveyor motor

will turn on and transport the case to the other end of the system and then OFF.

51
NOTE:

● The user again selects what size of bottles wants every after sequence and

then press START.

● When the robotic arm is in operating mode, the GREEN lamp will always

ON.

● Pressing the Emergency Stop Pushbutton, the RED lamp will FLASH and

the system will stop.

● Pressing the RESET pushbutton- the system will initialize.

● Pressing the STOP pushbutton, the YELLOW lamp will flash. And the

system will pause to its last sequence until the output pulse is done.

● Pressing the START push button -the system will continue its sequence in

placing the bottle to the case if it is from pause.

● Pressing the Emergency Stop Pushbutton the Robotic Arm will

automatically full stop, but the vacuum is ON not until pressing the RESET

pushbutton it will OFF.

52
 CHAPTER IV

Results and Discussions

This chapter provides the answers to the statements of the problem of the

study. The study aimed to develop and evaluate the prototype and analyze the results.

4.1 Design of the Prototype

Developing a prototype for a PLC-based 3-axis robotic arm for pick-and-place

operations involves a meticulous integration of mechanical, electrical, and

programming elements. The mechanical design focuses on a robust structure with

three axes, utilizing servomotors for precise control. The programmable logic

controller (PLC) serves as the brain, orchestrating the arm's movements and

coordinating with sensors for feedback on position and status. The dual-end effector

system enhances versatility, allowing the robotic arm to adapt to different tasks

seamlessly. Design considerations encompass safety features, including emergency

stops and collision detection, ensuring a reliable and efficient operation.

(a) (b)

Figure 4.1 Proposed design for the prototype (a) Initial design (b) Revised design

53
 Figure 4.2 Full Isometric View of the 3D Design with labels

Labeled Parts:

1. Conveyor Belt 18. Aluminum Profiler

2. Conveyor Platform 19. Electrical Circuit Breaker

3. Processing Lamp 20. Start Push Button

54
4. Bottle Case 21. Stop Push Button

5. Bottle Platform 22. Reset Pushbutton

6. Large Bottle 23. Selector Switch

7. Parallel Gripper 24. Emergency Stop Push Button

8. Robotic Arm 25. Programmable Logic Controller

9. Medium Bottle 26. External Power Supply

10. Small Bottle 27. Stepper Motor Drivers

11. NEMA 17 Stepper Motor 28. Power Supply Terminals

12. Vacuum Generator 29. Robotic Arm Platform

13. Gripper Controller Case 30. Table Platform

14. Pneumatic Valves 31. Wire Duct

15. Relays 32. Conveyor Motor

16. DIN Rails 33. Conveyor GT2 Pulley

17. Human Machine Interface 34. Case Sensors

55
Table 4.1 Comparison of the 3D Design of the Proposed and Revised Design of the

Whole Structure of the Prototype with Added Parts

Proposed Design Revised Design

No robotic arm, bottle, solenoid valve Robotic Arm bottle, bottle platform,
mounting, no sensors in the conveyor, solenoid valve mounting, sensors in the
no HMI attached. conveyor, HMI, conveyor motor and
Conveyor GT2 Pulley are attached.

The circuit breaker is attached outside The circuit breaker is attached inside the
the cart. cart.

A larger size of acrylic was used in the Smaller size of acrylic was used in the
control panel. control panel.

The Power Supply, PLC and Stepper The Power Supply, PLC and Stepper
Motor Drivers are attached in the first Motor Drivers are attached in the 2nd
drawer of the cart. drawer of the cart.

In the proposed design, the robotic system lacks a robotic arm bottle, solenoid

valve mounting, and sensors in the conveyor, with no Human-Machine Interface

(HMI) attached; meanwhile, the circuit breaker is externally mounted on the cart, and

a larger size of acrylic was employed in the control panel. Additionally, the first

56
drawer of the cart contains the attached Power Supply, Programmable Logic

Controller (PLC), and Stepper Motor Drivers. The revised design of the robotic

system includes several improvements.a platform for the bottles, a system to mount

solenoid valves, sensors for the conveyor belt, and a HMI were added. The conveyor

system itself got a motor and pulley upgrade, and a circuit breaker placed inside the

cart. To improve space efficiency, the control panel is now made from a smaller

acrylic sheet, and the power supply, PLC controller, and stepper motor drivers had

been relocated to the cart's second drawer.

4.2 Development of the Prototype

The prototype for the "PLC-Based 3 Axis Robotic Arm Pick and Place

Operation with 2 Optional End Effector" was designed based on existing systems. It

was set up on an aluminum profile, and the control components like the PLC, motor

driver, and power supply were placed beneath the cart in an open drawer. The PLC

manages the prototype's I.O system with buttons, switches, lamps, and sensors,

aiming to automate the picking and placing process. After receiving feedback from

BSIAM faculty, revisions were made.

The actual revised prototype is composed of the whole structure of the system

(see Figure 4.3), the conveyor module (see Figure 4.4) , the end effectors module (see

Figure 4.5) and the HMI(see Figure 4.6).

57
 Figure 4.3 Full Isometric View of the Actual Prototype Design with labels

Labeled Parts:

1.Robotic Arm 7. Processing Lamp

2. Bottle Mounting 8. Conveyor

3. Pneumatic Valve 9. Relay

4. Terminal Block 10. Terminal Block

5. Human Machine Interface 11. Control Panel

6. End- Effector

58
4.2.1 Conveyor Module

Figure 4.4 Actual Picture of the Conveyor Module

4.2.2 End Effector Module

(a) (b)

Figure 4.5 Actual Picture of the End Effector Module (a) Vacuum (b) Gripper

59
Labeled Parts:

(a) (b)

1. Vacuum Holder 1. Servo Motor

2. Spring 2. Gripper Holder

3. Suction cap 3. Gripper

4.2.3 Human Machine Interface Module

Figure 4.6 Actual Picture of the Human Machine Interface Module

Labeled Parts:

1. HMI Screen

2. HMI Casing

3. Aluminum Mount

60
4.2.4 Actual Configuration of the Motor Drivers and PLC

Figure 4.7 Actual Wiring Diagram Connection in the PLC

Labeled Parts:

1. Power Supply

2. PLC

3. Stepper Motor Driver 1

4. Stepper Motor Driver 2

5. Stepper Motor Driver 3

61
4.3 Testing and evaluation of the Prototype

4.3.1 Accuracy rate of mechanical gripper in picking and placing the

bottle to the container with respect to sequence operation (Pre-Optimization).

Table 4.2 Accuracy percentage of mechanical gripper (Pre-Optimization).

Pick and Place (Accuracy)

Tested Sequence Description Accuracy Percentage
Operation
Small-Small Robotic Arm’s movement in
picking up the bottle from 70.00%
Point 1 and placing it to
Point 4 & 5
Medium-Medium Robotic Arm’s movement in
picking up the bottle from 73.33%
Point 2 and placing it to
Point 4 & 5
Large-Large Robotic Arm’s movement in
picking up the bottle from 66.66%
Point 3 and placing it to
Point 4 & 5
Small-Medium Robotic Arm’s movement in
picking up the bottle from 73.33%
Point 1&2 and placing it to
Point 4 & 5
Medium-Large Robotic Arm’s movement in
picking up the bottle from 66.66%
Point 2 & 3 and placing it to
Point 4 & 5
Small-Large Robotic Arm’s movement in
picking up the bottle from 63.33%
Point 1 & 3 and placing it to
Point 4 & 5

Table 4.2 In this test of sequence operation performed by robotic arm, out of

180 bottles that were picked and placed in the container, only 120 bottles were

successfully placed in the container. Due to its difficulty in finding the right angle and

data it only resulted in approximately 68.89% success rate in accuracy of mechanical

gripper.

62
4.3.2 Optimization

To address the problem, researchers calculated the formula in computing the

right angle and data that were used in PLC programming. After finding the results,

adjusting the data inside the program and doing the maintenance of the nuts and bolts

of the robotic arm is a must. Checking the gripper's wiring and testing it manually for

close and open operation in order to determine the cause of its unnecessary

movements and with that, the mechanical gripper achieved 69% accuracy rate.

Constantly, executing the 5’s practice was always considered every after

optimization. Implementing these steps leads to improved performance of the

prototype which was tested again for the final findings.

4.3.3 Commissioning after Optimization

After the maintenance and changes in program, a test was conducted again

with the same quantity of test trials in order to find out the difference of accuracy rate

of the mechanical gripper, and it showed significant changes and grew with an

accuracy rate of 85%.

63
4.3.4 Accuracy rate of mechanical gripper in picking and placing the bottle to the

container with respect to sequence operation (Post-Optimization).

Table 4.3 Accuracy percentage of mechanical gripper (Post-Optimization).

Pick and Place (Accuracy)

Tested Sequence Description Accuracy Percentage
Operation
Small-Small Robotic Arm’s movement in
picking up the bottle from 86.66%
Point 1 and placing it to
Point 4 & 5
Medium-Medium Robotic Arm’s movement in
picking up the bottle from 83.33%
Point 2 and placing it to
Point 4 & 5
Large-Large Robotic Arm’s movement in
picking up the bottle from 83.33%
Point 3 and placing it to
Point 4 & 5
Small-Medium Robotic Arm’s movement in
picking up the bottle from 90.00%
Point 1&2 and placing it to
Point 4 & 5
Medium-Large Robotic Arm’s movement in
picking up the bottle from 83.33%
Point 2 & 3 and placing it to
Point 4 & 5
Small-Large Robotic Arm’s movement in
picking up the bottle from 83.33%
Point 1 & 3 and placing it to
Point 4 & 5

Table 4.3 Out of 180 bottles that were picked and placed in the container, only

153 bottles were successfully placed in the container.Finding the right angle and data

resulted in a higher accuracy rate, approximately 85.00% success rate in accuracy of

the mechanical gripper was shown. The percentage shows an improvement in the

success rate of the mechanical gipper’s accuracy in pick and place operation.

64
4.3.5 Accuracy rate of Vacuum Gripper in picking and placing the bottle to the

container with respect to sequence operation (Pre-Optimization).

Table 4.4 Accuracy percentage of vacuum gripper (Pre-Optimization).

Pick and Place (Accuracy)

Tested Sequence Description Accuracy Percentage
Operation
Small-Small Robotic Arm’s movement in
picking up the bottle from 80.00%
Point 1 and placing it to
Point 4 & 5
Medium-Medium Robotic Arm’s movement in
picking up the bottle from 73.33%
Point 2 and placing it to
Point 4 & 5
Large-Large Robotic Arm’s movement in
picking up the bottle from 70.00%
Point 3 and placing it to
Point 4 & 5
Small-Medium Robotic Arm’s movement in
picking up the bottle from 83.33%
Point 1&2 and placing it to
Point 4 & 5
Medium-Large Robotic Arm’s movement in
picking up the bottle from 70.00%
Point 2 & 3 and placing it to
Point 4 & 5
Small-Large Robotic Arm’s movement in
picking up the bottle from 66.67%
Point 1 & 3 and placing it to
Point 4 & 5

Table 4.4 In this sequence operation, out of 180 bottles that were picked and

placed in the container, only 124 bottles were successfully placed in the container.

Due to its difficulty in finding the right angle and data it only resulted in

approximately 73.88% success rate in accuracy of vacuum gripper.

65
4.3.6 Optimization

To address the problem, the same formula in computing the right angle and

data that were used in PLC programming. After finding the results, adjusting the data

inside the program and doing the maintenance of the nuts and bolts of the robotic arm.

Every now and then, checking its pneumatic connections for any anomalies that may

occur during the testing, results in a vacuum gripper's accuracy rate of 74%.

Constantly, executing the 5’s practice was always considered every after

optimization. Implementing these steps leads to improved performance of the

prototype which was tested again for our final findings.

4.3.7 Commissioning after Optimization

After the maintenance and changes in program, a test was conducted again

with the same quantity of test trials in order to find out the difference in accuracy rate

of vacuum gripper,and it showed significant changes and grew with an accuracy rate

of 90%.

4.3.8 Accuracy rate of Vacuum Gripper in picking and placing the bottle to the

container with respect to sequence operation (Post-Optimization).

Table 4.5 Accuracy percentage of vacuum gripper (Post-Optimization).

Pick and Place (Accuracy)

Tested Sequence Description Accuracy Percentage
Operation
Small-Small Robotic Arm’s movement in
picking up the bottle from 93.33%
Point 1 and placing it to
Point 4 & 5

66
 Medium-Medium Robotic Arm’s movement in
picking up the bottle from 86.66%
Point 2 and placing it to
Point 4 & 5
Large-Large Robotic Arm’s movement in
picking up the bottle from 90.00%
Point 3 and placing it to
Point 4 & 5
Small-Medium Robotic Arm’s movement in
picking up the bottle from 93.33%
Point 1&2 and placing it to
Point 4 & 5
Medium-Large Robotic Arm’s movement in
picking up the bottle from 90.00%
Point 2 & 3 and placing it to
Point 4 & 5
Small-Large Robotic Arm’s movement in
picking up the bottle from 86.66%
Point 1 & 3 and placing it to
Point 4 & 5

Table 4.5 In this test a sequence operation is performed, out of 180 bottles

that were picked and placed in the container, only 162 bottles were successfully

placed in the container. Drastic improvements can be seen through results, with an

approximately 90.00% success rate in accuracy of vacuum gripper demonstrating that

with a proper commissioning it can increase its performance.

67
4.3.9 Comparison of the Pre-Optimization and Post-Optimization for the

mechanical and vacuum gripper accuracy.

Figure 4.8 Pre & Post Optimization for the accuracy of mechanical gripper and

vacuum gripper.

4.3.10 Efficiency rate of robotic arm in terms of sequence operation.

(Pre-Optimization).

Table 4.6 Efficiency percentage of robotic arm(Pre-Optimization).

Sequence Operation (Efficiency)

Tested Description Efficiency Efficiency
Sequence Percentage Percentage (Vacuum
Operation (Mechanical Gripper)
Gripper)
Robotic Arm’s
Small-Small movement in sequence 73.33% 66.67%
operation of Small-Small
using mechanical and
vacuum gripper.

68
 Robotic Arm’s
Medium-Mediu movement in sequence 60.00% 66.67%
m operation of
Medium-Medium using
mechanical and vacuum
gripper.
Robotic Arm’s
Large-Large movement in sequence 63.33% 63.33%
operation of Large-Large
using mechanical and
vacuum gripper.
Robotic Arm’s
Small-Medium movement in sequence 70.00% 60.00%
operation of
Small-Medium using
mechanical and vacuum
gripper.
Robotic Arm’s
Medium-Large movement in sequence 63.33% 63.33%
operation of
Medium-Large using
mechanical and vacuum
gripper.
Robotic Arm’s
Small-Large movement in sequence 60.00% 60.00%
operation of Small-Large
using mechanical and
vacuum gripper.

Table 4.6 During the test of the whole robotic arm’s sequence operation, out

of 360 test trials, only 231 successful sequence operations using both our 2-end

effectors simultaneously. The changes in data occur when there is a sudden error of

movement in the robotic arm like an error in placement of the bottle leads to a sudden

change in gear of ratio for the motors and the 2-end effectors not gripping properly.

Thus, it affects the next sequence operation performance in a combined result with an

approximately 64.12% for robotic arm average in efficiency using both mechanical

gripper and vacuum gripper.

69
4.3.11 Optimization

In order to stabilize the robotic arm, with the same formula in computing the

right angle and data that were used in our PLC programming, adjusting the data inside

the program, doing the maintenance of the nuts and bolts of robotic arm and checking

for faults in wiring and pneumatic lining in 2-end effector. .

Constantly, executing the 5’s practice was always considered every after

optimization. Implementing these steps leads to improved performance of the

prototype which was tested again for the final findings.

4.3.12 Commissioning after Optimization

After the changes, researchers conducted the test again with the same quantity

of test trials in order to find out the difference in sequence operation.

Despite the combined result in pre and post optimization, it still shows that the

vacuum gripper has a higher efficiency rate with an average of 88.89%, compared to

the mechanical gripper with an average efficiency rate of 83.33% which certainly

shows that the vacuum gripper is more efficient in comparison to mechanical gripper.

4.3.13 Efficiency rate of robotic arm in terms of sequence operation.

(Post-Optimization).

Table 4.7 Efficiency percentage of robotic arm(Post-Optimization).

Sequence Operation (Efficiency)

Tested Description Efficiency Efficiency
Sequence Percentage Percentage
Operation (Mechanical (Vacuum Gripper)
Gripper)

70
 Robotic Arm’s
Small-Small movement in sequence 86.66% 93.33%
operation of Small-Small
using mechanical and
vacuum gripper.
Robotic Arm’s
Medium-Mediu movement in sequence 80.00% 90.00%
m operation of
Medium-Medium using
mechanical and vacuum
gripper.
Robotic Arm’s
Large-Large movement in sequence 80.00% 83.33%
operation of Large-Large
using mechanical and
vacuum gripper.
Robotic Arm’s
Small-Medium movement in sequence 86.66% 93.33%
operation of
Small-Medium using
mechanical and vacuum
gripper.
Robotic Arm’s
Medium-Large movement in sequence 80.00% 86.66%
operation of
Medium-Large using
mechanical and vacuum
gripper.
Robotic Arm’s
Small-Large movement in sequence 80.00% 86.66%
operation of Small-Large
using mechanical and
vacuum gripper.

Table 4.7 In this table, shows the test of the whole robotic arm’s improved

sequence operation. A result average of the robotic arm’s efficiency using both of

2-end effectors simultaneously, garnered a combined average result around 85.00%.

The results demonstrate that a proper maintenance and changes in program resulted in

a more efficient robotic arm in performing the sequence operation.

71
4.3.14 Comparison of the Pre-Optimization and Post-Optimization for robotic

arm’s efficiency.

Figure 4.9 Pre & Post Optimization for the efficiency still using both mechanical

gripper and vacuum gripper

72
4.3.15 The robotic arm’s precision in performing the sequence operation.

Figure 4.10 shows the precision of the robotic arm. Determining the robotic

arm's precise movement during testing in placing and picking the bottle, the number

of bottles placed successfully on a continuous matter with a time limit of 1 hour each

using the 2-end effector and determining which end-effector is effective while the

bottle has load and without load.

4.3.16 Functionality of robotic and conveyor motors during overall system

operation. (Pre-Optimization)

Table 4.8 Functionality percentage of robotic arm overall system operation

(Pre-Optimization).

System Operation (Functionality)

Tested Description Robotic Arm Conveyor Motor
Sequence (Functionality (Functionality
Operation Percentage) Percentage)

73
 30 Test Trials Robotic Arm’s
for its overall continuous overall 93.33% 86.66%
system system operation
operation movement.

Table 4.8 shows only 30 test trials are made in order to determine errors in

overall robotic arm’s system operation. However, the percentage still remains highly

notable for it has minimal errors and still garnering a highly 83.33% of overall

combined results for robotic arm and conveyor motor system operation.

4.3.17 Optimization

In order for the robotic arm to have a higher rate of functionality,

troubleshooting of all the overall faults or damages of the prototype must be executed

accordingly for it to be more reliable in pick and place operation. Adjusting data for it

to be more accurate and efficient in terms of performing the designated sequence

operation.

Constantly, executing the 5’s practice was always considered every after

optimization. Implementing these steps leads to improved performance of the

prototype which was tested again for the final findings.

4.3.18 Commissioning after Optimization

After the changes, researchers conducted the test again with the same quantity

of test trials in order to find out after performing several troubleshooting steps

whether the robotic arm can function properly while performing overall system

operation.

74
 It showed highly notable results after troubleshooting the said problems, with

an average functionality of 96.66% for the robotic arm and 93.33% for the conveyor

motor.

4.3.19 Functionality of robotic arm and conveyor motor during overall system

operation. (Post-Optimization)

Table 4.9 Functionality percentage of robotic arm overall system operation

(Pre-Optimization).

System Operation (Functionality)

Tested Description Robotic Arm Conveyor Motor
Sequence (Functionality (Functionality
Operation Percentage) Percentage)
30 Test Trials Robotic Arm’s
for its overall continuous overall 96.66% 93.33%
system system operation
operation movement.

Table 4.9 another 30 test trials are made in order to determine if there are any

improvements in overall robotic arm’s system operation functionality. Garnering an

overall result of 90.00% really shows drastic improvements compared to the previous

results.

75
4.3.20 Pre-Optimization and Post-Optimization results for our robotic arm’s

functionality.

Figure 4.11 Pre & Post Optimization of Robotic arm’s functionality.

76
 CHAPTER V

Conclusions and Recommendations

5.1 Summary

The study aimed to develop a PLC-Based 3-Axis Robotic Arm Pick and Place

Operation with Two (2) Optional End-Effectors. The development of the prototype

included designing specifications, software interfacing, installation, configuration,

and programming. The prototype was developed using online and available

components within the local market. The PLC serves as the control center, managing

the precise movements and actions of the robotic arm during the pick and place

operations. The two optional end effectors enhance the adaptability of the robotic arm,

allowing it to perform different functions based on the chosen tool. The prototype

emphasizes precision and reliability in the robotic arm’s movements, ensuring

consistent and accurate execution of tasks, the system incorporates safety features to

prevent collisions or malfunctions, enhancing overall operational efficiency.

The prototype incorporates HMI integration to enhance user interaction and

system monitoring. The HMI provides a user-friendly interface, allowing operators to

intuitively control and visualize the robotic arm's movements, pick and place

sequences, and status information. This integration not only facilitates ease of

operation but also contributes to the overall efficiency of the system by providing

real-time data visualization.

77
 The prototype underwent countless test trials that involved both

commissioning and optimization. It was initially commissioned and subsequently

optimized, furthermore it involves installation of the prototype’s wiring, assembling

of the mechanical parts, assessment of its overall functionality, whilst considering the

field of its accuracy, efficiency and precision. After countless installations and

configurations, it shows that the components are working as required after

optimizations and that the end effectors are able to pick and place bottles with 85%

efficiency.

On top of that, after conducting several test trials for both of 2-end effectors

showed positive and highly notable results. Furthermore, after commissioning and

optimization it contributed to a more enhanced prototype. The test trials were

conducted to evaluate the prototype’s overall functionality, accuracy, efficiency and

precision while showcasing its commendable consistency in performing sequenced

system operation.

5.2 Conclusion

The study’s findings led to the following conclusions: The prototype is

operable as required, based on the series of taken tests. The results imply that the

prototype performs well, in terms of the accuracy, efficiency and precision while

performing the program sequence operation. In addition to that, the prototype

functionality while performing the overall system operation is highly notable and

achieved 96.66%.

78
 This suggests that the prototype has significant contribution as a learning

resource. In summary, the prototype provides a quality attribute, making it a valuable

educational tool, providing instructors and students with better understanding with

regards to robotics by using the robotic arm prototype.

5.3 Recommendations

To enhance the study for future researchers, the proponents suggested the

following recommendations:

1. Modify the design of the robotic arm to handle a larger quantity of

bottles.

2. Widen the table to create more space for the components, preventing

them from being cramped.

3. Enhance the wiring of the gripper for optimal functionality.

4. Ensure the case has a shallow depth to enhance accuracy when placing

bottles.

79
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83
 APPENDIX A

Checklist for Robotic Arm’s Accuracy(Mechanical Gripper, Before Optimization)

Table 3.1. The table form for Robotic Arm’s Accuracy.

Sequence 1: Small-Small
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 1 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✗ ✗

4 ✓ ✓

5 ✗ ✗

6 ✗ ✗

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✗ ✗

16 ✗ ✗

17 ✗ ✗

18 ✓ ✓

19 ✗ ✗

84
 20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✗ ✗

29 ✗ ✗

30 ✓ ✓

Sequence 2: Medium-Medium
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✗ ✗

4 ✗ ✗

5 ✓ ✗

6 ✓ ✓

7 ✓ ✓

8 ✗ ✗

9 ✗ ✗

85
10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✗ ✗

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

86
Sequence 3: Large-Large

Pick and Place (Accuracy)

Test Trial Point 3 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✗ ✗

6 ✓ ✓

7 ✗ ✗

8 ✗ ✗

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✗ ✗

13 ✓ ✓

14 ✓ ✓

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

87
 22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✓ ✗

28 ✓ ✓

29 ✓ ✗

30 ✓ ✓

Sequence 4: Small-Medium
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✗ ✗

7 ✗ ✗

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✗ ✗

12 ✓ ✓

88
13 ✗ ✗

14 ✗ ✗

15 ✓ ✓

16 ✓ ✓

17 ✗ ✗

18 ✓ ✓

19 ✓ ✓

20 ✗ ✗

21 ✗ ✗

22 ✓ ✓

23 ✗ ✗

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

89
Sequence 5: Medium-Large
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✗ ✗

6 ✓ ✓

7 ✓ ✓

8 ✗ ✗

9 ✗ ✗

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✗

14 ✗ ✗

15 ✓ ✓

16 ✓ ✓

17 ✗ ✗

18 ✓ ✓

19 ✗ ✗

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

90
 23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✗ ✗

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 6: Small-Large
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✗ ✗

3 ✓ ✗

4 ✓ ✓

5 ✗ ✗

6 ✓ ✓

7 ✓ ✓

8 ✗ ✗

9 ✓ ✓

10 ✓ ✓ ✗

11 ✓ ✓

12 ✗ ✗

91
13 ✓ ✓

14 ✗ ✗

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✓ ✗

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✗ ✗

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

92
 APPENDIX A.1

Checklist table for Robotic Arm’s Accuracy (Mechanical Gripper, After

Optimization)
Sequence 1: Small-Small
Table 3.1. The table form for Robotic Arm’s Accuracy.
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 1 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✗ ✗

11 ✗ ✗

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

93
 19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✗ ✗

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 2: Medium-Medium
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

94
9 ✓ ✓

10 ✓ ✓

11 ✗ ✗

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✗ ✗

30 ✓ ✓

95
Sequence 3: Large-Large
Pick and Place (Accuracy)
Test Trial Point 3 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✗ ✗

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

96
 23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✓ ✓

28 ✗ ✗

29 ✓ ✓

30 ✓ ✓

Sequence 4: Small-Medium
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

97
14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✗ ✗

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✗ ✗

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

98
Sequence 5: Medium-Large
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✗ ✗

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✗

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✗ ✗

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

99
 23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✗ ✗

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 6: Small-Large
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✗ ✗

100
13 ✓ ✓

14 ✗ ✗

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

101
 APPENDIX A.2

Checklist table for Robotic Arm’s Accuracy (Vacuum Gripper, Before Optimization).

Table 3.1. The table form for Robotic Arm’s Accuracy.

Sequence 1: Small-Small
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 1 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✗ ✗

12 ✗ ✗

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✗ ✗

18 ✗ ✗

102
 19 ✗ ✗

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 2: Medium-Medium
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

103
10 ✗ ✗

11 ✗ ✗

12 ✗ ✗

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✗

17 ✓ ✓

18 ✓ ✓

19 ✓ ✗

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

23 ✓ ✓

24 ✓ ✗

25 ✓ ✓

26 ✓ ✓

27 ✗ ✗

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

104
Sequence 3: Large-Large
Pick and Place (Accuracy)
Test Trial Point 3 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✗

5 ✓ ✓

6 ✗ ✗

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓ ✗

10 ✓ ✓

11 ✗ ✗

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✗ ✗

105
 23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✓ ✓

28 ✗ ✗

29 ✗ ✗

30 ✓ ✓

Sequence 4: Small-Medium
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✗ ✗

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

106
13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✗

18 ✓ ✓

19 ✓ ✓

20 ✗ ✗

21 ✓ ✓

22 ✓ ✓

23 ✗ ✗

24 ✓ ✓

25 ✓ ✓

26 ✗ ✗

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

107
Sequence 5: Medium-Large
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✗ ✗

4 ✓ ✓

5 ✓ ✓

6 ✓ ✗ ✗

7 ✓ ✓

8 ✓ ✓

9 ✓ ✗

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✗

14 ✓ ✓

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

108
 23 ✓ ✗

24 ✓ ✓

25 ✓ ✓

26 ✗ ✗

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 6: Small-Large
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✗ ✗

5 ✓ ✓

6 ✗ ✗

7 ✓ ✓

8 ✗ ✗

9 ✗ ✗

10 ✓ ✓

11 ✓ ✓

12 ✗ ✗

13 ✗ ✗

109
14 ✓ ✓

15 ✓ ✓

16 ✗ ✗

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✓ ✗

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✗

26 ✓ ✓

27 ✓ ✓

28 ✓ ✗

29 ✓ ✓

30 ✓ ✓

110
 APPENDIX A.3

Checklist table for Robotic Arm’s Accuracy (Vacuum Gripper, After Optimization).

Table 3.1. The table form for Robotic Arm’s Accuracy.

Sequence 1: Small-Small
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 1 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✗ ✗

18 ✓ ✓

111
 19 ✗ ✗

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 2: Medium-Medium
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✗ ✗

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

112
10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✗

15 ✓ ✗

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

113
Sequence 3: Large-Large
Pick and Place (Accuracy)
Test Trial Point 3 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✗ ✗

19 ✓ ✓

20 ✓ ✓

21 ✗ ✗

22 ✓ ✓

114
 23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

Sequence 4: Small-Medium
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 2 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

115
14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✗ ✗

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✗ ✗

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

116
Sequence 5: Medium-Large
Pick and Place (Accuracy)
Test Trial Point 2 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✗ ✗

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

117
 23 ✓ ✓

24 ✓ ✓

25 ✗ ✗

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✗

30 ✓ ✓

Sequence 6: Small-Large
Pick and Place (Accuracy)
Test Trial Point 1 (Pick) to Point 4 (Place) Point 3 (Pick) to Point 5 (Place)
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✗

11 ✓ ✓

12 ✓ ✓

13 ✗ ✗

118
 14 ✓ ✓

15 ✓ ✓

16 ✗ ✓ ✗

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

20 ✗ ✗

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✓ ✓

25 ✓ ✓

26 ✓ ✓

27 ✓ ✓

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

This table showed the pre and post accuracy rate tally of the robotic arm. The

comparison between mechanical and vacuum grippers has a huge gap with each other.

Pre-optimization shows that the mechanical gripper has a 69% accuracy rate,

comparing it to the vacuum gripper with an average of 74%. However, after

optimizing shows significant changes and the gap between mechanical and vacuum

gripper grew with an average accuracy of 85% and 90% which shows that vacuum

gripper is more accurate compared to mechanical gripper.

119
 APPENDIX B

Table for Robotic Arm’s End-Effector’s Precision (Mechanical Gripper, Vacuum

Gripper with load and without load operation).

Table 3.1. The table form for Robotic Arm’s Precision.

Trial Type of Testing Time No. of bottle

1 Vacuum Gripper with load 1 hr. 44 bottles

2 Vacuum Gripper without load 1 hr. 38 bottles

3 Mechanical Gripper with load 1 hr. 40 bottles

4 Mechanical Gripper without 1 hr. 35 bottles

load

Note: This test refers to the number of bottles successfully picked and placed

by robotic arm during testing.

120
 APPENDIX C

Checklist for Robotic Arm’s Functionality (Before Optimization)

Table 3.4. The table for our Robotic Arm’s Functionality

System Operation
Test Trial Robotic Arm Conveyor
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)
1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

121
20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✗ ✗

25 ✓ ✓

26 ✗ ✗

27 ✓ ✗

28 ✓ ✓

29 ✓ ✗

30 ✓ ✓

122
 APPENDIX C.1

Checklist for Robotic Arm’s Functionality (After Optimization)

Table 3.4. The table for Robotic Arm’s Functionality

System Operation
Test Trial Robotic Arm Conveyor
n Pass (✓) Fail (✗) Pass (✓) Fail (✗)
1 ✓ ✓

2 ✓ ✓

3 ✓ ✓

4 ✓ ✓

5 ✓ ✓

6 ✓ ✓

7 ✓ ✓

8 ✓ ✓

9 ✓ ✓

10 ✓ ✓

11 ✓ ✓

12 ✓ ✓

13 ✓ ✓

14 ✓ ✓

15 ✓ ✓

16 ✓ ✓

17 ✓ ✓

18 ✓ ✓

19 ✓ ✓

123
 20 ✓ ✓

21 ✓ ✓

22 ✓ ✓

23 ✓ ✓

24 ✗ ✓

25 ✓ ✓

26 ✓ ✗

27 ✓ ✗

28 ✓ ✓

29 ✓ ✓

30 ✓ ✓

The table demonstrates the pre & post optimization of robotic arm and

conveyor motor overall system operation functionality. It showed highly notable

results after troubleshooting the said problems, with an average functionality of

96.66% for the robotic arm and 93.33% for the conveyor motor.

124
 APPENDIX D

Checklist for Robotic Arm’s Efficiency (Mechanical Gripper,Before Optimization)

Table 3.2. The table form for Robotic Arm’s Efficiency.

Sequence Operation (Efficiency)
Trial Test Small-Small Medium-Medium Large-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✓ ✓ ✓

3 ✓ ✗ ✓

4 ✓ ✗ ✓

5 ✓ ✗ ✓

6 ✓ ✓ ✗

7 ✓ ✗ ✗

8 ✓ ✗ ✗

9 ✓ ✗ ✗

10 ✓ ✓ ✓

11 ✗ ✗ ✗

12 ✗ ✗ ✓

13 ✗ ✓ ✓

14 ✓ ✓ ✓

15 ✓ ✗

16 ✓ ✓ ✓

17 ✓ ✓ ✓

18 ✓ ✓ ✗

19 ✓ ✓ ✓

125
 20 ✗ ✗ ✓

21 ✓ ✓ ✗

22 ✗ ✓ ✓

23 ✓ ✓ ✗

24 ✗ ✗ ✓

25 ✓ ✓ ✗

26 ✓ ✓ ✓

27 ✗ ✓ ✗

28 ✗ ✗ ✗

29 ✓ ✓ ✓

30 ✓ ✓ ✓

Total

Sequence Operation (Efficiency)

Trial Test Small-Medium Medium-Large Small-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✗ ✗ ✓

3 ✗ ✓ ✓

4 ✓ ✗ ✓

5 ✗ ✓ ✓

6 ✓ ✗ ✓

7 ✗ ✓ ✓

8 ✓ ✗ ✗

9 ✗ ✗ ✓ ✗

10 ✓ ✓ ✓

126
 11 ✗ ✗ ✓

12 ✓ ✗ ✗

13 ✓ ✗ ✓

14 ✓ ✓ ✗

15 ✓ ✓ ✗

16 ✓ ✓ ✓

17 ✓ ✓ ✗

18 ✓ ✓ ✗

19 ✓ ✓ ✗

20 ✗ ✓ ✓

21 ✓ ✓ ✗

22 ✓ ✓ ✗

23 ✓ ✓ ✓

24 ✗ ✗ ✓

25 ✓ ✓ ✗

26 ✗ ✗ ✓

27 ✓ ✓ ✗

28 ✓ ✗ ✓

29 ✓ ✓ ✓

30 ✓ ✓ ✓

Total

127
 APPENDIX D.1

Checklist for Robotic Arm’s Efficiency (Mechanical Gripper, After Optimization)

Table 3.2. The table form for Robotic Arm’s Efficiency.

Sequence Operation (Efficiency)
Trial Test Small-Small Medium-Medium Large-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✓ ✓ ✓

3 ✓ ✓ ✓

4 ✓ ✓ ✓

5 ✓ ✓ ✓

6 ✓ ✓ ✓

7 ✓ ✓ ✓

8 ✓ ✓ ✓

9 ✓ ✓ ✓

10 ✓ ✓ ✓

11 ✓ ✓ ✓

12 ✓ ✓ ✓

13 ✓ ✓ ✓

14 ✓ ✓ ✓

15 ✓ ✓ ✓

16 ✓ ✓ ✓

17 ✓ ✓ ✗

18 ✓ ✓ ✗

19 ✓ ✓ ✓

128
 20 ✗ ✗ ✓

21 ✓ ✗ ✗

22 ✓ ✗ ✓

23 ✓ ✓ ✗

24 ✗ ✗ ✓

25 ✓ ✓ ✗

26 ✓ ✗ ✓

27 ✗ ✓ ✗

28 ✗ ✗ ✓

29 ✓ ✓ ✓

30 ✓ ✓ ✓

Total

129
 APPENDIX D.2

Checklist for Robotic Arm’s Efficiency (Vacuum Gripper, Before Optimization)

Table 3.2. The table form for Robotic Arm’s Efficiency.

Sequence Operation (Efficiency)
Trial Test Small-Small Medium-Medium Large-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✗ ✓ ✓

3 ✓ ✗ ✗

4 ✗ ✓ ✓

5 ✓ ✗ ✓

6 ✓ ✓ ✗

7 ✗ ✓ ✗

8 ✗ ✗ ✗

9 ✓ ✓ ✓

10 ✓ ✗ ✓

11 ✗ ✓ ✗

12 ✗ ✗ ✓

13 ✓ ✓ ✓

14 ✓ ✓ ✓

15 ✓ ✗

16 ✓ ✓ ✓

17 ✓ ✗ ✓

18 ✓ ✓ ✗

19 ✓ ✓ ✓

130
 20 ✗ ✗ ✓

21 ✓ ✓ ✗

22 ✓ ✓ ✓ ✗

23 ✓ ✓ ✓

24 ✗ ✗ ✓

25 ✓ ✓ ✗

26 ✓ ✓ ✗

27 ✗ ✓ ✗

28 ✗ ✗ ✓

29 ✓ ✓ ✓

30 ✓ ✓ ✓

Total

Sequence Operation (Efficiency)

Trial Test Small-Medium Medium-Large Small-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✗ ✓ ✓

3 ✗ ✓ ✗ ✗

4 ✓ ✓ ✓

5 ✓ ✓ ✓

6 ✗ ✓ ✗ ✗

7 ✓ ✓ ✓

8 ✓ ✗ ✗

9 ✗ ✗ ✓

131
 10 ✓ ✗ ✗

11 ✗ ✓ ✓

12 ✓ ✓ ✗

13 ✓ ✗ ✓

14 ✓ ✓ ✗

15 ✗ ✗ ✗

16 ✗ ✓ ✓

17 ✓ ✗ ✓

18 ✓ ✓ ✗

19 ✓ ✓ ✓

20 ✗ ✓ ✓

21 ✗ ✗ ✗

22 ✓ ✓ ✓

23 ✓ ✓ ✗

24 ✗ ✗ ✓

25 ✓ ✓ ✗

26 ✗ ✗ ✓

27 ✓ ✓ ✗

28 ✗ ✓ ✓

29 ✓ ✓ ✓

30 ✓ ✓ ✓

Total

132
 APPENDIX D.3

Checklist for Robotic Arm’s Efficiency (Vacuum Gripper,After Optimization)

Table 3.2. The table form for our Robotic Arm’s Efficiency.
Sequence Operation (Efficiency)
Trial Test Small-Small Medium-Medium Large-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✓ ✓ ✓

3 ✓ ✓ ✓

4 ✓ ✓ ✓

5 ✓ ✓ ✓

6 ✓ ✓ ✓

7 ✓ ✓ ✓

8 ✓ ✓ ✓

9 ✓ ✓ ✓

10 ✓ ✓ ✓

11 ✓ ✓ ✓

12 ✓ ✓ ✓

13 ✓ ✓ ✓

14 ✓ ✓ ✓

15 ✓ ✓ ✓

16 ✓ ✓ ✓

17 ✓ ✓ ✓

18 ✓ ✓ ✓

19 ✓ ✓ ✗

133
 20 ✓ ✓ ✓

21 ✓ ✓ ✓

22 ✓ ✓ ✗

23 ✓ ✓ ✗

24 ✓ ✓ ✓

25 ✓ ✗ ✓

26 ✓ ✗ ✗

27 ✗ ✓ ✓

28 ✗ ✓ ✗

29 ✓ ✗ ✓

30 ✓ ✓ ✓

Total

Sequence Operation (Efficiency)

Trial Test Small-Medium Medium-Large Small-Large

n Pass (✓) Fail (✗) Pass (✓) Fail (✗) Pass (✓) Fail (✗)

1 ✓ ✓ ✓

2 ✓ ✓ ✓

3 ✓ ✓ ✓

4 ✓ ✓ ✓

5 ✓ ✓ ✓

6 ✓ ✓ ✓

7 ✓ ✓ ✓

8 ✓ ✓ ✓

9 ✓ ✓ ✓

10 ✓ ✓ ✓

134
 11 ✓ ✓ ✓

12 ✓ ✓ ✓

13 ✓ ✓ ✓

14 ✓ ✓ ✓

15 ✓ ✓ ✓

16 ✓ ✓ ✓

17 ✓ ✓ ✓

18 ✓ ✓ ✓

19 ✓ ✓ ✓

20 ✓ ✓ ✓

21 ✓ ✓ ✓

22 ✗ ✓ ✓

23 ✓ ✓ ✗

24 ✗ ✗ ✓

25 ✓ ✗ ✓

26 ✓ ✓ ✓

27 ✓ ✗ ✗

28 ✓ ✗ ✗

29 ✓ ✓ ✗

30 ✓ ✓ ✓

Total

The table demonstrates the pre and post efficiency rate of the robotic arm.

Despite the combined result in pre and post optimization, it still shows that the

vacuum gripper has a higher efficiency rate with an average of 88.89%, compared to

135
the mechanical gripper with an average efficiency rate of 83.33% which certainly

shows that the vacuum gripper is more efficient in comparison to mechanical gripper.

136
 APPENDIX E

List of Materials

The table below shows the components being used sorted by components quantity,

specifications, picture and price.

Pneumatic Components

QTY. COMPONENT SPECIFICATIONS PICTURE PRICE

3m Pneumatic Hose Material: PU Polyurethane P129

Plastic; Color: Blue

Size: 6x4mm (OD x ID)

Working Pressure:

10gf/cm2

Pressure at room

temperature

1 pc. Solenoid Valve 5/2 Way Directional P418

Solenoid Operated

N/C,Spring return Valve

1 pc. Vacuum Pump Micro Vacuum Pump P484

Suction
Suction Cup Robot

Suction Cup Industrial

Pneumatic Access

137
 1 pc. Vacuum Generator Model: CV-10HS P226

Nozzle diameter: 1.0mm

Working pressure: 1~6

BAR

Rated pressure: 5bar

Suction flow rate:

27L/min

Air consumption: 44L/min

Vacuum pressure: -92bar

Material: Aluminum alloy

Mechanical Components

QTY. COMPONENT SPECIFICATIONS PICTURE PRICE

3 pcs. Pushbutton Voltage: AC/DC P174

24V, AC220V

Contact Current:

10A

Contact type: 1 NO or 1

NC

1pc. Emergency Stop LA167-D8 Series, Self P150

Pushbutton Locking Switch Button

138
1 pc. Selector Switch LA167-D8 Series, 2 P76

positions (D8-11X/2)

14pcs. Profiler 20100 Aluminum Profile P10,640

Extrusion, 400mm

1m DIN Rail Material: Aluminum P131

Color: Golden tone or

Gray

Dimension:

500x35x5mm/1000MM*

35*5MM

Slot width: 24mm/0.94

inch

2 pcs. Pulley Tooth Bore Dimension:14.2mm(heigh P112

t)

x18mm(outside diameter)

Gear teeth: 16/20

1pc. Timing Belt GT2 Closed Loop Timing P107

Belt Rubber, 40mm

139
 2pcs. Idler GT2 Timing Pulley P96

Bearing

A1-16T W:6MM ID:3mm

smooth

1pc. Synchronous Wheel GT2, 60 teeth, 5mm bore P278

with 1pc. Length 20mm

width, 6mm belt

Electromechanical Components

QTY. COMPONENT SPECIFICATIONS PICTURE PRICE

1pc. Servo Motor MG996R JR Steering P188

Rotation, 360 high speed

Torque, Metal Gear

3pcs. Stepper Motor 42BYGH48 NEMA 17 P1,785

4-lead, 48mm, 1.5A

0.55N.M 42 motor

3pcs. Limit Switches Actuator Action: P128

Momentary

Actuator type: Short

hinge Roller Lever

V-156-1C25

140
Electrical Components

QTY. COMPONENT SPECIFICATIONS PICTURE PRICE

98m Wires Materials: Bare Copper P686

Wire Gauge: 22 AWG

Single wire, Solid wire

30pcs. Terminal Block Model: UK-2.5B, P120

Color: Gray,

Cable size:

Solid cable: 0.2-4mm2,

Soft Cable: 0.2-2.5mm2,

32A, 220V, Size:

6*5*6cm

1pc. Power Supply Linear,SOMPOM P684

BRAND, 24V,15A

1pc. Processing Lamp Tower Light Three-color P628

warning light sound and

alarm light

Model: T50-3T-J+Q, 24V

141
4m Wire Duct H25x25W, Lid P438

Horizontal,Finger Duct

Rack Cable, Gray

5pcs. Relay Relay LY2NJ 24VDC, P435

10A 8 PIN with PTF08A

Socket

1pc. Cable Compliant with USB 1.1, P144

EIA RS-232 standard,

Support RS-232 interface

and standard DB9 pin

interface

1pc. RS232 Port OMRON, CP1W- CIF01 P2,995

Lot No. 20520N

142
Electronic Components

QTY. COMPONENT SPECIFICATIONS PICTURE PRICE

1pc. PLC Model: OMRON P15,800

CP2E-N30DT-A

24 VDC Supply, 18

Inputs, 12 Outputs 0.3 A,

10K steps program + 32K

words data memory

3pcs. Stepper Motor TB6600 for Two-phase P1,678

Driver
stepper motors, Range

power input 9-12VDC

power supply

2 packs Potentiometer RV09, 50K&10K Audio P136

Potentiometer, Adjustable

Resistor, 3 pins, Variable

Resistors

3pcs. Sensor SN04-N Famous 4mm P267

Approach Sensor NPN,3

wire,NO 6-30V DC

Inductive Proximity

Switch

143
1pc. Arduino Uno Microcontroller: P198

ATmega328PInput

Voltage (recommended):

7-12V

In-out Voltage (limit):

6-20V

Digital I/O Pins: 14 (of

which 6 provide PWM
output)

144
 APPENDIX F

Input and Output Configuration

It shows the PLC designation of the input and output configuration of the Prototype.

Input Configuration

Table 3.4

NAME PLC ADDRESS

Emergency Stop PB 0.00

Start PB 0.01

Stop PB 0.02

Reset PB 0.03

Selector Switch 0.04

Sensor 1 0.05

Limit Switch 1 0.06

Limit Switch 2 0.07

Limit Switch 3 0.08

Limit Switch 4 0.09

Sensor 2 0.10

Sensor 3 0.11

145
Output Configuration

Table 3.5

NAME PLC ADDRESS

PLS 0 100.00

PLS 1 100.01

DIR 0 100.02

DIR 1 100.03

Yellow Lamp 100.04

Conveyor Motor 100.05

Green Lamp 100.06

Red Lamp 100.07

PLS 2 101.00

Gripper 101.01

DIR 2 101.02

Vacuum 101.03

146
 APPENDIX G

Electrical Circuit and PLC Wiring Diagram

It shows the wiring diagram of the particular connections between the instruments and

the PLC.

147
148
 APPENDIX H

List of Activities

The table below shows all the scheduled activities in creating the project.

ACTIVITIES DESCRIPTION PREDECESSO DURATION

R
(WEEKS)

A Concept Development - 1

B Analyzation of Design A 2
Specification

C Planning of Design B 3

D Material canvassing and C 2

purchasing

E Assembly of the profile C 3

platforms

F Software Design & C 4

Development

G Assembly of Mechanical D,E 2

System

H Installation of Electrical E 2
Systems

149
 I Algorithm Development F 3

J HMI Integration F,H 2

K Safety and Emergency Stop F 2

System Implementation

L Final Assembly of all the G,J,K, 2

System

M Commissioning L 1

N Testing and Evaluation L 4

O Optimization M, N 2

P Documentation O 1

TOTAL 36 WEEKS

150
 APPENDIX I

Gantt Chart

Below shows the horizontal bar chart used in project management to visually

represent a project over time.

151
 APPENDIX J

Network Analysis

Below shows a technique used to analyze the networks of activities. It is

carried out to know the critical path and duration of the project.

152
 APPENDIX K

Actual Research Project Cost

Total Research Project Cost

QUANTITY MATERIAL PRICE TOTAL

2pcs. Plywood P938 P1,876

8pcs. Industrial wheels P30 P238

5L. Paint P3,567(divided by P714

5 groups)

8pcs. Screws P6 P48

1pc. Saw P150 (divided by 5 P30

groups)

1pc. Drawers guide P700 (divided by 5 P140

groups)

1pc. Reducer P1,140 (divided by P228

5 groups)

20pcs. Sand paper P180(divided by 5 P36

groups)

2pc. Paint roller P110(divided by 5 P22

groups)

1pc. Cast P1,020 (divided by P204

5 groups)

1pc. Primer P1,020 (divided by P204

5 groups)

2pcs. Polymaker P953 P1,906

Polylite 3D Printer
Filament (White
and Blue,
2.85mm)

2pcs. Polymaker P821 P1,642

Polylite 3D Printer
Filament (Blue,
2.85mm)

153
 1pc. Filament for P600 P600
container

3pcs. Stepper Motor P595 P1,785

1pc. Programmable P15,800 P15,800

Logic Controller

14pcs. Profiler P760 P10,640

1pc. Power Supply P684 P684

28pcs. Bolts and P2 P56

Nuts(random)

2pcs. Drillbit P80 P160

4 meters Wire duct P109 P436

1 meter DIN rail P131 P131

2pcs. Stepper Motor P486 P972

Driver

1pc. Acrylic P456 P456

98 meters Wire P7 P686

47pcs. Bolts and P2 P94

Nuts(random)

30pcs. Terminal Block P9 P270

4pcs. Resistor P1 P4

1pc. Capacitor P8 P8

1pack. Sticker paper P50 P50

1 meter #14 AWG P20 P20

40pcs. Bearings P35 P1,400

1pc. GT2 Timing Belt P107 P107

2pcs. Idler P48 P96

1 pack PVC Insulated P61 P61

Blade Terminal

P244 P244
1 box Heat shrink tube

154
 P136 P136
1 pack Insulated Wiring

Terminal

2pcs. Circuit Breaker P138 P276

1pc. Wire hole cover P130 P130

10 meters Spiral Wrapping P22 P220

Band

20pcs. Wire Buddle P11 P220

Saddle

30pcs. T- nuts P5 P150

2 packs Cable ties P85 P85

2pcs. Servomotor P188 P376

2packs. Potentiometer P68 P136

3pcs. Push buttons P58 P174

1pc. EM Stop PB P98 P98

1pc. Selector Switch P76 P76

2pcs. Bearings P66 P132

2pcs. GT2 Pulley P56 P112

1pc. Thrust ball bearing P106 P106

1pc. Stepper Motor P706 P706

Driver

28pcs. M2 Bolts P6 P168

50pcs. M2 Nuts P1 P50

24pcs. Bolts and P2 P48

Nuts(random)

1 pack. Hinge P37 P37

20pcs. Rivets P1 P20

¼ L. Enamel Paint P60 P60

155
 1pc. Terminal Block P60 P60

30pcs. Terminal Block P4 P120

Label

1pc. Paint brush P20 P20

35pcs. Fork Terminal P5 P175

60pcs. Male Insulated P3 P180

Terminal

2pcs. PCB P35 P70

5pcs. Limit Switches P25 P128

1pc. Vacuum Pump P484 P484

Suction

3 meters Pneumatic Hose P43 P129

1pc. Processing Lamp P628 P628

3pcs. Sensor P89 P267

1.5 meters Cable P144 P144

1pc. RS232 Port P2,995 P2,995

5pcs. Relay P87 P435

1pc. Fabrication of P850 P850

Conveyor

1pc. Spray paint P130 P130

1pc. Sand paper P18 P18

2pcs. DEVCON Epoxy P150 P300

4pcs. IC Holder P8 P32

1pc. Synchronous P278 P278

wheel

2pcs. Adjuster P35 P70

1pc. Vacuum Generator P226 P226

Total P53, 303

156
 APPENDIX L

Main Program

Scan the QR code to direct in the main program.

157
 APPENDIX M

Payload Calculation

Payload Calculation for the Arm Leg

Stall Torque: 0.55 n.m

● Calculate the force required to lift 100g load

100g = 1kg/100g = 0.1kg

F= Force

M= Mass

A= Acceleration due to gravity: 9.81m/s2

F= ma

F= 0.1kg (9.8m/s2

F= 0.981 kg. m/s2 or 0.981N

● Calculate the torque required

Arm leg; 173.50mm — 0.17350m

T= Torque

F= Force

d= distance (length of Arm leg in meters)

T= Fd

T= 0.981 n (0.17350 m)

T= 0.1702035 n.m — 0.17 N.M < 0.55N.M

Therefore, the robotic arm can lift a bottle that has a 100g load of coffee beans

because the motor’s holding torque is greater than the torque required.

158
 APPENDIX M.1

Maximum Payload (Arm Leg)

T= torque of the stepper motor (maximum)

F= Force (maximum)

d= distance (length of Arm leg in meters)

We have to calculate the maximum force required that the motor can exert. So that we

can calculate the maximum load of mass from the equation; f= ma

Fmax= T/d

= 0.55N.m / 0.17350 m

Fmax= 3.170 N

From this, we can use this to determine the maximum mass using

F= ma — m= F/a ; 1N= 1kg.m/s2

Mmax = Fmax/a

= 3.170 kg.m/s2/ 9.81 m/s2

Mmax = 0. 3231396534148 kg.

Mmax = 0.320 kg.

Therefore, the maximum load that the Arm leg can lift is 320 grams.

159
 APPENDIX M.2

Payload Calculation for the Boom and its motor

Stall Torque; 0.55N.M

● Calculate the force required to lift 100g load

100g = 1kg/100g = 0.1 kg

F= Force

m= mass

a= acceleration due to gravity: 9.81m/s2

F=ma

F= 0.1kg (9.81m/s2)

F= 0.981 kg.m/s2 or 0.981 N

● Calculate the Torque required to lift the force with the Boom leg

Boom leg: 186.555 mm — 0.186555 m

T= torque

F= force

d= distance of boom arm in meters (length)

T= Fd

T= 0.981n (0.186555m)

T= 0.183010455 N.m — 0.18N.m < 0.55N.m

Therefore, the robotic arm can lift a bottle that has a 100g load of coffee beans

because the motor’s holding torque is greater than the torque required.

160
 APPENDIX M.3

Conclusion

Arm Leg: Payload= 320 grams

Boom Leg: 300 grams

Since the arm leg is in- joint after the Boom Leg, and the Boom Leg’s payload

is lesser than the Arm leg, the researchers can conclude that the maximum capacity

the robotic arm can lift and perform its function is 0.300 kg.or 300 grams.

161
 DOCUMENTATION

A. Assembling the Table

162
B. Construction of the Conveyor

163
C. Assembling the components and Wiring Installation

164
D. Assembling the Robotic Arm

165
E. Programming

F. Commissioning ( Before Optimization)

166
G. Optimization

H. Commissioning ( After Optimization)

167
 CURRICULUM VITAE

SIDDIQ A. ANDAM

Address: Blk. 5 Lot 17, Floraville 5, Luinab, Iligan City

Mobile: 09530530495

Email: [email protected]

SKILLS

● Hardware

● Can work under pressure

EDUCATIONAL BACKGROUND

Tertiary Mindanao State University- Iligan Institute of

Technology

Address Andres Bonifacio Ave, Iligan City

Course Bachelor of Science in Industrial Automation and

Mechatronics

Senior High School Iligan Medical Center College (BED)

Address 9200 San Miguel Village, Iligan City, Lanao del Norte

School Duration 2018-2020

Secondary Iligan City National High School - Santiago High

School Annex

Address Purok 5B, Brgy. Santiago, Iligan City

168
School Duration 2014-2018

Elementary Berean Christian Academy

Address Prk.12 Canaway, Tibanga, Iligan City

School Duration 2008- 2014

PERSONAL INFORMATION

Age 22

Date of Birth May 10, 2001

Place of Birth Iligan City

Gender Male

Name of Father Ismael I. Andam

Name of Mother Ma. Luisa A. Andam

SEMINARS ATTENDED

● Basic Pneumatics and Electro- Pneumatics Course Training, MSU- IIT, Iligan

City, July 2022

● Electrical Installation and Maintenance Course Training, MSU- IIT, Iligan

City, July 2022

● SIEMENS S7-200 Basic and Advance PLC Programming and Applications

Course Training, MSU- IIT, Iligan City, July 2022

169
MARC KRISTIAN C. COLALJO

Address: Prk.3, Zone 4, Fuentes, Iligan City

Mobile: 09978120527

Email: [email protected]

SKILLS

● Hardware

● Computer Literate (HMI)

EDUCATIONAL BACKGROUND

Tertiary Mindanao State University- Iligan Institute of

Technology

Address Andres Bonifacio Ave, Iligan City

Course Bachelor of Science in Industrial Automation and

Mechatronics

Senior High School St. Michael's College (BED)

Address 74 Manuel L. Quezon Ave, Iligan City, 9200 Lanao del

Norte

School Duration 2018-2020

Secondary Our Lady of Perpetual Help Academy

Address 55M6+C53, Linamon, 9201 Lanao del Norte

School Duration 2014-2018

170
Elementary NAPOCOR Elementary School

Address Fuentes, Iligan City

School Duration 2008-2014

PERSONAL INFORMATION

Age 22 years old

Date of Birth November 14, 2001

Place of Birth Iligan City

Gender Male

Name of Father Fraser Q. Colaljo

Name of Mother Janet C. Colaljo

SEMINARS ATTENDED

● Basic Pneumatics and Electro- Pneumatics Course Training, MSU- IIT, Iligan

City, July 2022

● Electrical Installation and Maintenance Course Training, MSU- IIT, Iligan

City, July 2022

● SIEMENS S7-200 Basic and Advance PLC Programming and Applications

Course Training, MSU- IIT, Iligan City, July 2022

171
IVAN L. LARIOSA

Address: Papaya St.,Balete Drive St.,Brgy.Santiago, Iligan City

Mobile: 09453783745

Email: [email protected]

SKILLS

EDUCATIONAL BACKGROUND

Tertiary Mindanao State University- Iligan Institute of

Technology

Address Andres Bonifacio Ave, Iligan City

Course Bachelor of Science in Industrial Automation

and Mechatronics

Senior High School

Address

School Duration

Secondary

Address

School Duration

Elementary

172
Address

School Duration

PERSONAL INFORMATION

Age

Date of Birth

Place of Birth

Gender Male

Name of Father

Name of Mother

SEMINARS ATTENDED

● Basic Pneumatics and Electro- Pneumatics Course Training, MSU- IIT, Iligan

City, July 2022

● Electrical Installation and Maintenance Course Training, MSU- IIT, Iligan

City, July 2022

● SIEMENS S7-200 Basic and Advance PLC Programming and Applications

Course Training, MSU- IIT, Iligan City, July 2022

173
ERLFREDO R. PAGENTE

Address: Zone 6, Bagong Silang, Iligan City

Mobile: 09663819885

Email: [email protected]

SKILLS

● Hardware

● Computer literate

● Adaptability

EDUCATIONAL BACKGROUND

Tertiary Mindanao State University- Iligan Institute of

Technology

Address Andres Bonifacio Ave, Iligan City

Course Bachelor of Science in Industrial Automation and

Mechatronics

Senior High School Adventist Medical Center College

Address Andres Bonifacio Avenue, San Miguel, Iligan City,

Philippines

School Duration 2018-2020

Secondary Iligan City East National High School

Address Sta Filomena, Iligan City, Philippines

School Duration 2014-2018

174
Elementary Iligan City Adventist Elementary School

Address North Gate, San Miguel, Iligan City

School Duration 2008-2014

PERSONAL INFORMATION

Age 23

Date of Birth November 19,2000

Place of Birth Carmen, Cagayan de Oro, Misamis Oriental

Gender Male

Name of Father Mark Wilson F. Pagente

Name of Mother Donnabelle R. Pagente

SEMINARS ATTENDED

● Basic Pneumatics and Electro- Pneumatics Course Training, MSU- IIT, Iligan

City, July 2022

● Electrical Installation and Maintenance Course Training, MSU- IIT, Iligan

City, July 2022

● SIEMENS S7-200 Basic and Advance PLC Programming and Applications

Course Training, MSU- IIT, Iligan City, July 2022

175
ROWYNE C. PALER

Address: Blk. 9B Lot 19 Bayanihan Village, Sta.Elena,

Iligan City

Mobile: 09361281811

Email: [email protected]

SKILLS

● Computer Literate, MS Word,Powerpoint,Google docs,Internet Browsing

● Capable of organizing things

EDUCATIONAL BACKGROUND

Tertiary Mindanao State University- Iligan Institute of

Technology

Address Andres Bonifacio Ave, Iligan City

Course Bachelor of Science in Industrial Automation and

Mechatronics

Senior High School Christian Horizon School Inc.

Address Ubaldo De Laya, Iligan City

School Duration 2018-2020

Secondary Iligan City National High School

Address Mahayahay, Iligan City

School Duration 2014-2018

176
Elementary South 1-A Central School

Address Tubod, Iligan City

School Duration 2008-2014

PERSONAL INFORMATION

Age 22 years old

Date of Birth July 21, 2001

Place of Birth Iligan City

Gender Female

Name of Father Antonio D. Paler

Name of Mother Ruby C. Paler

SEMINARS ATTENDED

● 28th Mindanao Business Conference, MSU- IIT, Iligan City, September 2019

● Patigayon Awards: Business Idea Competition of Teenpreneur, MSU- IIT,

Iligan City, October 2019

● Basic Pneumatics and Electro- Pneumatics Course Training, MSU- IIT, Iligan

City, July 2022

● Electrical Installation and Maintenance Course Training, MSU- IIT, Iligan

City, July 2022

● SIEMENS S7-200 Basic and Advance PLC Programming and Applications

Course Training, MSU- IIT, Iligan City, July 2022

177