DANANG UNIVERSITY

DANANG UNIVERSITY OF SCIENCE & TECHNOLOGY

ENGINEERING FACULTY

PBL 5: DESIGN ADVANCED ROBOTICS

SYSTEMS
TOPIC: APPLICATION OF ROBOT
ARMS IN CAFÉ SERVICE

Mentor : Dr. Vo Nhu Thanh

Student: Tran Anh Quan 20CDTCLC2
Nguyen Trong Tuyen 20CDTCLC1

Group : 20.06B
 APPLICATION OF ROBOT ARMS IN CAFÉ SERVICE

TEACHER’S COMMENT

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Contents
PREFACE............................................................................................................................5
CHAPTER 1: OVERVIEW OF TOPIC..............................................................................6
1. Introduction..................................................................................................................6
1.1. History of robot development:..............................................................................6
1.2. Reason for choosing the topic...............................................................................6
CHAPTER 2 : GOALS & PARAMETERS........................................................................8
2.1 Define workspace ......................................................................................................8
2.2 Working speed:..........................................................................................................9
2.3 Coffee cup picking mechanism:...............................................................................11
2.4 MECHANICAL DESIGN......................................................................................12
Chapter 3 : KINEMATIC AND DYNAMICS..................................................................14
3.1 Kinematic.................................................................................................................14
3.2 Forward Kinematics................................................................................................15
3.3 Inverse Kinematics...................................................................................................16
3.4 Dynamics.................................................................................................................17

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PREFACE

The Project Design advanced robotic systems is an indispensable content for

students of engineering in general and especially with the mechatronics engineer training
program in particular to provide students with basic knowledge of elements that
mechatronic systems need.
During the learning process, we became familiar with mechanical design,
electrical circuit design, and control programming. This project helps us systematize the
knowledge we have learned and dig deeper. Through completing the project, we can link
the knowledge we have learned in the subject to apply it to a product. Practice and
thereby gain more teamwork skills, circuit design skills, and printing skills to create a
complete product.
The topic we chose is APPLICATION OF ROBOT ARMS IN CAFÉ SERVICES
That is one of the very popular applications in the field of automatic robots, robot arms
replacing baristas.During the process of making the project, we consulted many relevant
documents as well as textbooks, plus the dedicated guidance of the teachers, but because
it was the first time we were exposed to and perfected a product, we made mistakes is
inevitable.We hope to receive more guidance from the teachers and will use it as an
experience to gradually improve ourselves on the way to becoming a Mechatronics
engineer.
Above all, we would like to sincerely thank the teachers and especially send a
deep thanks to Dr. Vo Nhu Thanh for enthusiastically guiding us in the process of
completing the project.

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CHAPTER 1: OVERVIEW OF TOPIC

1.1 Introduction
 The concept of artificial humans predates recorded history (see automaton), but
the modern term robot derives from the Czech word robota (“forced labour” or “serf”),
used in Karel Čapek’s play R.U.R. (1920). [1]
 In his play “R.U.R.: Rossum’s Universal Robots,” the Czech writer Karel Čapek
tells the tale of a factory in which thousands of synthetic humanoids have been created.
They work so cheaply and tirelessly that they shrunk production costs of weaving
material by 80 percent. Čapek named the devices “robots,” after the Czech word robota,
referring to the forced labor of serfs. The play not only gave robots their modern name,
but heightened the existential fear that robots will someday replace people, as Čapek’s
robots ultimately rise up and kill humanity. [2]
 The word robotics first appeared in Isaac Asimov’s science-fiction story
Runaround (1942). Along with Asimov’s later robot stories, it set a new standard of
plausibility about the likely difficulty of developing intelligent robots and the technical
and social problems that might result. Runaround also contained Asimov’s famous Three
Laws of Robotics: [1]
1. A robot may not injure a human being, or, through inaction, allow a human
being to come to harm. [1]
2. A robot must obey the orders given it by human beings except where such
orders would conflict with the First Law. [1]
3. A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law. [1]

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Figure 1.1: Imagining robots in the early days (source :internet)

1.2 History of robot development:
1.2.1 The first generation of industrial robots (1950-1967)

 The first generation of industrial robot spans from 1950 to 1967. The robots of this
generation were basically programmable machines that did not have the ability to
really control the modality of task execution; moreover, they had no
communication with the external environment [3]. With respect to the hardware,
the first generation robots were provided with low-tech equipment, and servo-
controllers were not present [4].
 A peculiar feature of these robots is the strong noise they produced, when their
arms collided with the mechanical stops built to limit the movement of the axes.
With respect to the actuators, almost all the first generation robots employed
pneumatic actuators and were controlled by a sort of “logic gates” acting as
automatic regulators. Such “logic gates” were basically cams which activated
pneumatic valves, or relays which controlled solenoid valves. Finally, the tasks
that the first generation robots were capable to perform were necessarily quite
trivial, such as loading-unloading or simple material handling operations.
 The history of industrial robotics is conventionally set in the 1950’s, although
some developments in automation had taken place before: namely, a
“programmable” paint-sprayer device invented by Pollard and Roselund in
1938 [5], and a tele-operated “manipulator” invented by Goertz in 1949, for
instance. However, the turning point for industrial robotics was due to the genius
of George Devol, who designed in 1954 a “Programmable Article Transfer” (this
was the name given when the patent request [6] was filed). Such a device was the
base for the development of Unimate, that is considered the first “true” industrial
robot in history.

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Figure 1.1 Joseph Engelberger and George Devol (left); the Unimate robot (right). [7]

1.2.2 The Second Generation of Industrial Robots (1968-1977)

 The industrial robots of the second generation (conventionally ranging from 1968 to 1977)
were basic programmable machines with limited possibilities of self-adaptive behavior and
elementary capabilities to recognize the external environment [3].These robots used servo-
controllers, which enabled them to perform both point-to-point motion, and continuous paths
as well. Their control system consisted of microprocessors or of Programmable Logic
Controllers (PLC), and they could be also programmed by an operator by means of a teach
box. With respect to those belonging to the first generation, these robots could carry out more
complex tasks (e.g. control of work centers). However, their level of versatility was not very
high, because each robot had its own software, which was dedicated to a specific task. Hence,
these robots turned out to be application-specific devices, meaning that it was very difficult to
employ the same robot for different tasks, since this would require a substantial modification
of the controller, and a thorough reprogramming of the operating software. [7]
 At the beginning of the history of industrial robotics, the robots had hydraulic actuators. The shift
from hydraulic to electric actuators took place in the 1970’s, when the electronic components
needed to govern a robot reached the full technical maturity. As a matter of fact, microprocessors
and other components started to be widely used at that time: this allowed the robot manufacturers
to dispose of powerful and cost-effective devices which could be employed to implement control
systems able to deal with a complex and computationally expensive task such as the control of a
robot. [7]
 The economic and geopolitical situation, at the international level, also pushed the trend towards
electrically driven robots: for instance, the price of crude oil suddenly grew after the oil crisis
following the Kippur war (October 1973). The companies were thus forced to find more efficient
ways of production: robot (and in particular electrically driven robots) was consistent with the
goals of reducing the costs and increasing the productivity. This gave a boost to the installations
of industrial robots, which increased more than 30% per year in the second half of the 1970’s [8]
 From the scientific point of view, a significant base for the development of electrically driven
robots was the merit of Victor Scheinman [9]. Scheinman was a mechanical engineering student at
Stanford University who in 1969 designed and built the famous Stanford Arm (1.2). This robot
was the first prototype of a robot actuated by electric motors (6 DC motors) and controlled by a
PDP-6 microprocessor. The Stanford Arm had 5 revolute and one prismatic joint, for a total of 6
DOFs, and its kinematic chain was made of harmonic drives and spur gear reducers. Its inverse
kinematics could be analytically solved in a closed form, which allowed a fast trajectory
execution. Moreover, some sensors (tachometers and potentiometers) were mounted on the robot,
in order to measure position and velocity of the robot joints.

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Figure 1.2: The Stanford Arm. [7]

 Four years later (1973), Scheinman designed another electrical robot, named Vicarm, that was smaller
and lighter than the industrial robots of that time. This made Vicarm particularly suitable for use in
tasks, such as assembly of parts, where the robot was not required to lift and carry heavy loads. These
features of Vicarm were so appreciated, that Unimation bought the company that produced Vicarm and
exploited its know-how to design and manufacture (in 1978) the famous PUMA robot (Figure 1.3). [7]

Figure 1.3. The PUMA robot. [7]

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 In the meanwhile, other companies developed and manufactured other types of industrial robots. For
instance, KUKA developed in 1973 the Famulus robot, whose name in Latin means “servant”. In 1974
Cincinnati Milacron, a major machine tool manufacturer, developed a robot called T3 (an acronym for
“The Tomorrow Tool”), which was installed in several automotive plants, and especially in the Volvo
plants in Sweden. T3 was the first commercially available minicomputer-controlled industrial robot
(Figure 1.4). [7]

Figure 1.4 The Cincinnati Milacron T3 robot. [7]

 In 1974, the Swedish company ASEA (now ABB) started the production of the robots of the famous
and successful IRB series, well known worldwide also for their typical orange color. The first robot of
this series, that was issued for more than 20 years, was the IRB-6, which was largely employed in
productive sites for complex tasks (machining, arc-welding), for its ability to move smoothly along
continuous paths (Figure 1.5). [7]

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Figure 1.5 The “legendary” ABB IRB Robot. [7]

1.2.3 The Third Generation of Industrial Robots (1978-1999)

 The industrial robots of the third generation (conventionally ranging from 1978 to
1999) were characterized by a larger extent of interaction with both the operator
and the environment, through some kind of complex interfaces (such as vision or
voice). They also had some self-programming capabilities, and could reprogram
themselves, although by a little amount, in order to execute different tasks [3].
 These robots were provided with servo controls, and could execute complex tasks,
by moving either from point to point or along continuous paths. They could be
programmed either on-line (the operator could use a teach box with a keyboard) or
off-line, being connected to a PLC or a PC, which allowed to use a high-level
language for motion programming and enabled the robots to be interfaced with a
CAD or a database. The possibility of high-level, off-line programming enlarged
the operational potential of the robots: for in-stance, they could elaborate data
from sensor reading, in order to adjust the robot movements taking into account
changes in the environment (e.g. changes inposition and orientation of the
workpieces). Moreover, the diagnostic capabilities could be greatly enhanced:
these robots could produce not only an indication of failure detection, but also a
report on the location and on the type of the failure. In addition, some sort of
“intelligence” was present in the robots of the third generation, with some
(although limited) adaptive capabilities. These capabilities could be employed in
some more complex tasks (such as tactile inspection, assembly operations, arc
welding), by using the data coming from vision or perception systems to locate the
objects and the workpieces and guide the joint movements according to the task to
be performed, taking into account the possibility of small changes in the position
of the objects. [7]

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 Between the end of the 1970’s and the beginning of the 1980’s, other scientific and
technical improvements contributed to the diffusion of robots. In 1978, a novel

kinematic structure was proposed by the Japanese scientist Hiroshi Makino from
Yamanashi University. Such a structure was made of three revolute joints with
parallel axes and a prismatic joint lying at the end of the kinematic chain (Figure
1.6). The robot with this structure was named SCARA (an acronym from
“Selective Compliance Assembly Robot Arm”), since its compliance in the
horizontal direction resulted lower than the compliance in the vertical direction.
For this reason, as well as for the lightness of the kinematic chain (that allowed a simpler
and faster controller), this robot was suitable to be employed in tasks such as the
assembly of small objects [10]

Figure 1.6 One of the first prototypes of SCARA robot, designed by Hiroshi Makino. [7]

 Another relevant technical improvement in industrial robotics was the appearance

of direct drive actuated robot. The first prototype of this kind was the CMU Direct
Drive Arm [11] , developed in 1981 by Kanade and Asaka at Carnegie Mellon
University (Pittsburgh, USA). This kind of robot featured higher accuracy and
faster operations because the motors connected directly to the arms eliminating the

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need for intermediate gear or chain systems. Both the aforementioned findings
were employed in the AdeptOne (Figure 1.7), the first commercially available
direct-driven SCARA robot (1984). [7]
Figure 1.7 Examples of AdeptOne SCARA robots. [7]
 Robotics in the 1980’s was a rising star, not only in Japan but in all the developed
countries. It appeared as a promising field that drew the interest of journalist,
scientists, policy makers and also common people. From the scientific and
technical point of view, this is the time when the robots became even more
versatile, by exploiting important improvements both with respect to the hardware
and the software. Concerning the former aspect, robots started to be provided with
advanced sensors (e.g. cameras, force sensors, laser scanners); concerning the
latter aspects, the control software became more “intelligent” by introducing come
techniques related to Artificial Intelligence. Both these aspects increased the
versatility and the flexibility of the robots, which could be employed in more and
more complex tasks. [7]

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 Despite the significant progress undergone in the 1980’s, the need for robots that
could carry out task at high speed pushed the scientific research to design

innovative kinematic structures. The idea of employing parallel kinematic chains

instead of the classical serial kinematic chains was put forward and led to a type of
lightweight robot featuring the capability of moving at high speed. The archetype
of this kind of robots was the Delta robot (that appeared in 1992), conceived by
the Swiss scientist Reymond Clavel at the Ecole Poly-technique Fédérale de
Lausanne (EPFL). This type of robot, designed by Clavel in his PhD thesis, had
three translational DOFs and one rotational DOF [12]. With respect to serial
robots, parallel robots featured a smaller work-space, but the capability of
operating at much higher speed. The kinematic architecture of the Delta robot was
copied in many parallel manipulators, devoted to high speed pick-and-place
operations. The first application of Delta robots was developed by the Swiss
company Demaurex in 1992: six Delta robots were operating inside a work cell for
loading pretzels into trays(Figure 1.8). [7]
Figure 1.8 Delta robots in the Demaurex work cells for the packaging of pretzels. [7]

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 Some years afterwards (1998) ABB developed the Flex-Picker, the world’s fastest
picking robot, based on the structure of the Delta robot (Figure 1.9). [7]

Figure 1.9 The ABB Flex-Pitcher robot. [7]

 The end of the third generation is conventionally set to the end of the century;
beginning from the year 2000, the industrial robots are considered to belong to the
fourth generation (which extends up to the current days). Such robots feature high-
level “intelligent” capabilities (such as performing advanced computations, logical
reasoning, deep learning, complex strategies, collaborative behavior). [7]
1.2.4 Industrial Revolution 4.0:
 By the beginning of the 21st century, the 4.0 industrial revolution has brought robotics and
artificial intelligence (AI) to new heights. Robots are not just basic machines anymore but also intelligent
systems, capable of learning and interacting with their surroundings. Sectors such as manufacturing,
healthcare, transportation and services are already using robotics and AI to enhance productivity and
innovation.

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Figure 1.10: Practice robot for table tennis (source: internet)

1.3 Robots in Everyday Life:

 As technology continues to develop rapidly, robots are becoming increasingly
prevalent in our daily lives. They can be found in factories and other industrial
settings, performing dangerous or difficult tasks for humans to do. But robots
are also starting to appear in more mundane environments, such as homes and
hospitals. While there is some concern about the increasing use of robots, it’s
clear that they offer a number of advantages that can benefit everyone. [13]

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 General Benefits of Robots in Daily Lives

Here are some typical benefits of robots in daily lives:
- Safety
Robots are able to carry out tasks in hazardous environments such as the inside of a
nuclear power plant or deep underwater. They can also shield humans from dangerous
situations by working alongside us, such as flying planes or driving cars
- Time Saving
Many repetitive and arduous tasks can be carried out by robots, which means we don’t
have to do them. This can increase productivity and free up time for more critical
activities.
- Accessibility
Robots offer people access to things that we wouldn’t otherwise be able to do. For
example, a robot could carry heavy objects or assist someone in moving from one place
to another as a wheelchair does for those who need assistance walking.
- Surveillance
Robots can be equipped with cameras to give us a view of places that would otherwise be
inaccessible or too dangerous for humans. This includes bomb disposal robots that enter
hazardous situations and gather information before experts decide how to proceed.
- Productivity
Robots reduce human efforts and increase productivity within the workplace by taking on
dangerous jobs that humans don’t want to do. This could be mundane activities such as
vacuuming or more complex jobs like assembling components in a factory-type
environment.
- Less Human Errors
Robots can ensure better accuracy within the workplace, which reduces the likelihood of
human error. When robots work alongside humans, they can help reduce mistakes by
carrying out critical tasks without humans having to risk their lives.
- Improved Operation
Robots can also improve the operation of systems such as computer networks and
electrical grids. They can repair problems without people having to step in, which means
greater productivity and faster response times if there is a need to fix an issue.

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- Lessens Loneliness
Artificial intelligence (AI) robotic companions can keep people company when they’re
alone, providing social interaction and making those who feel lonely less likely to
become depressed. Whether it’s a robot that performs tasks with the person or one that
simply provides companionship, robotic “friends” can make life more fulfilling for
people of all ages.
 Today robots are divided into the following types:
- Industrial Robots:

Industrial robots are used in the manufacturing industry, particularly for tasks that require
great speed, precision, and endurance. They can be found on assembly lines across all
types of industries, handling jobs that range from loading materials to welding parts.
Their main advantage over humans is their precision; they do not tire or make mistakes,
even when they perform repetitive tasks. [13]

Figure 1.11: Industry Robot Arm (source: internet)

-Entertainment Robots
These robots are designed to be entertaining for audiences. They can take many forms,
including animatronic toys, clowns, and automated creatures that appear in science
fiction films and rides. People use such robots for various reasons: they can help people

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relax and unwind; they can keep children entertained, and some believe that humanoid
robotics makes people more likely to trust them. [13]

Figure 1.12:Robot plays trumpet (source:internet)

-Domestic Robots
Domestic robots, also known as personal service robots or companion robots, are
designed to help with household tasks. Domestic robots can be found in people’s homes
and workplaces. They perform a variety of tasks, such as cleaning, laundry, and
providing care for elderly or disabled people. [13]

Figure 1.13:Robot employee (source:internet)

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-Medical Robots

Medical robots are developed to perform a variety of tasks in healthcare settings. They
can be found in hospitals, doctors’ surgeries, and ambulances. They range from essential
robotic tools that assist surgeons during operations to autonomous surgical systems that
conduct entire procedures on their own. [13]

Figure 1.14: A laparoscopic robotic surgery machine(source:internet)

-Educational Robots:
Education robots are designed to be used in schools and other educational
institutions. They can help teachers to deliver lessons or allow students to investigate
topics that interest them without the risk of injury. These robots are made particularly
for children because they are much smaller than industrial models, have numerous
safety features built-in, are less likely to cause damage if they malfunction, and are
generally less expensive than larger robots. [13]

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Figure 1.15: This robot, named Minnie, supports children on reading assignments(source:internet)

- Collaborative Robots (Cobots)

Collaborative robots can be controlled by a human operator, making them safer for use in
factories and other workplaces where humans are present. Since cobots collaborate with
humans to accomplish tasks, they are also called robotic staff augmentation. This allows
people to perform more complex tasks without having to work alongside an autonomous
robot. [13]

Figure 1.16: A worker calibrates a collaborative robotic arm. (source:internet)

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1.4. Artificial Intelligence Development:

 Artificial intelligence (AI) plays a big role in the development of robotics. This technology allows
robots to learn from data, recognize the environment and interact with humans more naturally. Integrating
AI into robots has opened up many prospects for applying them in healthcare, education, and even in
many fields of art.

Figure 1.17: Robot appearance improvement (source :internet)

1.5. Challenges and Prospects:

 Although the development of robotics and artificial intelligence brings many benefits, it also
poses many challenges. Questions about ethics, information security, and the impact of robots on
employment have become important issues that need careful consideration. Above all, the development of
robots from the 20th century to modern times marked a great step forward in the history of humans and
technology. Their power has been changing the way we work, live and interact with the world around us.

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Chapter 2 : About my topic

2.1 The problems
- According to the research our team found, the current situation of the coffee service industry after the
Covid-19 pandemic is Rising costs and labor shortages are putting pressure on the food service industry
in general and coffee shop chains in particular. Technology companies are trying to provide solutions
using artificial intelligence. [14]

Figure 2.1: Robot Adam demonstrates making coffee at the CES 2024 Consumer Electronics Show. [14]
- After the pandemic, in the context of difficulties in finding workers, thanks to
outstanding features such as immunity to disease-causing viruses, fast and effective work
processing speed, robots Controlled by AI, it is becoming an effective "right hand" of
many F&B businesses. According to Cofferer magazine, many coffee chains say that
replacing employees with robots will help the company save manpower, reduce the cost
of drinks and, especially, help customers feel more relaxed [14]
.- The robot arm aims to provide a smoother customer service experience, allowing
clients to personalize their drinks (currently coffees and cocktails) with ease. The robot
arm will then make the drink following the consumer’s exact instructions. This
collaborative robot is faster than a human barista, making a latte in under one minute.
[15]

- There are many pioneering robot companies present in the market such as: Cafe X, RC
Robot Coffee, Rozum Coffee, etc.

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Figure 2.2: Ella Robot (Crown Digital) [16] Figure 2.3:Coffee Robot C1 Pro [17]

Figure 2.4: Rozum Robot Cafe [18] Figure 2.5: EVS Robot [19]

 Based on the need as well as the continuous development of those coffee-making

assistive arm robots, our group decided to choose it as our topic in this PBL.

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2.2.1 Reason for choosing the topic

There are four main reasons why we chose this topic
2.2.1.1 Save time and resources:
• The coffee-making robot arm is capable of operating and collecting coffee
automatically, helping to reduce effort and time compared to manual work.
2.2.1.2 More efficient in waste management:
• In an industrial environment, the manipulator type provides such valuable
benefits as high precision and repeatability. Precision quantifies the ability of an arm to
arrive at a position as preset. Repeatability stands for its capability to reproduce the same
manipulation multiple times with exactitude.
 In terms of brewing, the precision and repeatability characteristics would
translate into consistent reproducibility of gustatory properties, strength, etc.
With the intelligence and mechanical accuracy of a robotic arm, tailoring
coffee to exact individual tastes is easy.
2.2.1.3 Reduce hiring costs:
• Although developing robots may entail high initial costs, in the long run, their
use can reduce the cost of making coffee compared to hiring workers or using other
methods.
2.2.1.4 Vietnam is a strong country in coffee
2.3 Development Potential of the Project

- Our team will improve this project day by day, for example: speed,
functionality, quality of each cup of coffee, more variety in the types of coffee
and drinks that can be made.
- Gradually replace counter coffee baristas
2.4 Software
2.4.1 SolidWorks

 SolidWorks is a powerful 3D CAD (Computer-Aided Design) software, widely

used in the manufacturing industry, mechanical design and other engineering fields. It
provides a wide range of tools and features for product design and simulation, from initial
ideas to finished products, helping to speed up product development and reduce
production time and costs. Below are the main functions and applications of SolidWorks :

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2.4.1.1 Functions of SolidWorks:

 3D design: SolidWorks allows users to design 3D models of products from basic
components, including shaping and manufacturing specific details.
 Simulation and analysis: This software provides simulation tools to test product
features, strength and load capacity before going into production. This helps predict and
minimize design errors before actual production.
 Create technical drawings: SolidWorks can create detailed technical drawings,
including 2D technical drawings and overall product drawings to guide the
manufacturing process.
 Product Data Management: It provides data management tools to organize, store
and manage product versions and variants.

2.4.1.2 Applications of SolidWorks:

 Manufacturing industry: SolidWorks is widely used in the manufacturing
industry to design and develop products from concept to finished product.
 Mechanical Engineering: Mechanical engineers use SolidWorks to design
machines, equipment, and other mechanical structures.
 Automotive industry: SolidWorks is used to design and develop components and
systems in the automotive industry.
 Medical industry: It is also applied in the medical industry to design and develop
medical products such as medical equipment and medical instruments.
 SolidWorks provides a powerful and flexible 3D design environment that helps
designers and engineers create high-quality products and optimize manufacturing
processes.
 SolidWorks and Fusion 360 are both powerful 3D CAD (Computer-Aided Design)
software, but they have differences in uses, advantages and disadvantages:

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2.4.1.3. Advantage and disadvantage of Solidworks

2.4.1.3.1. Advantage
 In-depth tools: SolidWorks offers a range of in-depth tools for mechanical design
and manufacturing, including detailed simulation and analysis.
 Widely used: This is one of the most popular and popular 3D CAD software in
industry, especially in fields that require high precision such as automobiles, aviation and
manufacturing.
 Good support: SolidWorks has a large user community and extensive
documentation, and has good technical support from the vendor.
2.4.1.3.2. Disadvantage:
 High cost: SolidWorks often has quite expensive usage and licensing costs,
especially for small companies and individual users.
 Difficult to learn: SolidWorks has a steep learning curve at times and it can take a
lot of time to get used to its complex tools.

Figure 2.6: Solidworks software

2.4.2 MATLAB

 Like other well-known programming languages like Java, C#, etc., MATLAB has its
own Integrated Development Environment (IDE) and collection of libraries. Since it
was initially known as the matrix programming language, MATLAB is an acronym
for "Matrix Laboratory." It is a programming language of the fourth generation. It is a

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multi-paradigm, MATLAB. Therefore, it can be used with a variety of programming

paradigms, including functional, Visual, and Object-Oriented.

2.4.2.1 Function of MATLAB:

 The built-in functions of MATLAB offer top-notch resources for performing

calculations, including optimization, linear algebra, numerical solution of ordinary
differential equations (ODEs), data analysis, quadrate, signal processing, and many
other scientific tasks. Modern algorithms are used for the majority of these functions.
There are many of these for both animations and 2-D and 3-D graphics. MATLAB
also supports an external interface.

 Additional toolboxes are provided by MATLAB. These toolboxes were created for common
uses such as neural networks, symbolic computations, image processing, control system
design, and statistics.

2.4.2.2 Applications of MATLAB:

 Developing algorithms

 Performing linear algebra that is linear

 Graph plotting for larger data sets

 Data visualization and analysis

 Numerical Matrix Computation

2.4.2.3. Advantage and Disadvantage of MATLAB

2.4.2.3.1. Advantage
 MATLAB Compiler: There is a different MATLAB compiler available. With the
help of this compiler, MATLAB programs can be turned into genuine executables
that execute more quickly than interpreted code. It is a terrific method to turn a test
MATLAB program into an executable that can be sold and provided to users.
 Ease of Use: To make the software user-friendly, many program development
tools are supported. They include a workspace browser, an integrated
editor/debugger, online documentation and manuals, and extensive demos.

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 Device-Independent Plotting: The imaging and basic plotting instructions in

MATLAB are numerous. Any kind of graphical output device offered by the
machine running MATLAB can display the plots and images. This feature elevates
MATLAB to the level of a superior technical data visualization tool.
 Platform Independence: Because MATLAB runs on a variety of computers, it
offers a high degree of platform freedom. Linux, various UNIX versions,
Macintosh, Windows 2000/XP/Vista, and other operating systems all support the
language. Applications created on any platform will function fully on any other
platform, and data files created for any platform can ostensibly be read on any
other platform. As a result, when the demands of the user change, programs
created in MATLAB can switch to new platforms.
 Graphical User Interface: A program's Graphical User Interface (GUI) can be
created interactively by a programmer using a tool found in MATLAB. With this
capacity, a programmer can create sophisticated data-analysis algorithms that
relatively inexperienced people can utilize.
 Predefined Functions: A sizable predefined functions library included with
MATLAB offers tried-and-true answers to many common technical problems.
Your job will be considerably more comfortable thanks to the hundreds of
different services that are already included in the MATLAB programming
language.
2.4.2.3.2. Disadvantage
 Cost

Five to ten times as expensive as a typical FORTRAN compiler or C is a full copy of

MATLAB. MATLAB is cost-effective for organizations since this relatively high cost is
more than offset by the shortened time an engineer or scientist must spend developing
functional software. However, the cost prevents most people from even considering
buying it. Fortunately, MATLAB also offers a low-cost Student Edition, which is a
fantastic resource for students who want to learn it. MATLAB's Student Edition and Full
Edition are nearly identical.

 Interpreted Language

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The fact that it is an interpreted language and hence might run more slowly than a
compiled language is its first drawback. The MATLAB program can be correctly
structured to check for this issue.

Figure 2.7 : MATLAB Software

2.5. Main parts:

2.5.1. Body:
-As an essential component for large-scale robot operations, we decided that our arm
would have 3 joints with corresponding lengths: 240mm,450mm,290mm. Attached is the
base as well as the gripper.

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- Our Arm Robot overview:

Figure 2.8. Overview Robot Arm

-First Stage:

-Second stage:

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-Third stage:

-The Gripper :

-Base Part :

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Figure 2.9:Detailed drawing of the first stage

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Figure 2.10:Detailed drawing of the second stage

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Figure 2.11:Detailed drawing of the third stage

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Figure 2.12:Detailed drawing of the gripper

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Figure 2.13:Detailed drawing of the Base part

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CHAPTER 3 : GOALS & PARAMETERS

3.1 Define workspace

About defining the workspace Then we calculated and planned to make a robot
arm with 3 degrees of freedom. The first stitch is 24 cm long, the second stitch is 45 cm
long and the third stitch is 29 cm long. The estimated distance from the robot base to the
cup to be picked up will be 70 cm

B
C A

0 0
45 45
R=74 cm

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3.2 Working speed:

• Choose Espresso coffee with 18-20 grams of ground coffee
• Coffee brewing time is: 20-30 seconds at 9 bar pressure and 93 degree hot water

Figure 3.1 :Espresso [12]

- From research from robots already on the market, our team has set the problem of
working speed for our robot:

Figure 3.2 :RC Coffee Robot K2 [17]

-RC Robot K2 average working time is 120s

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Figure 3.3 :Coffee Robot C1 PRO [17]

- Robot C1 Pro average working time is 50~120s

Figure3.4:Rozum café [18]

- Robot Rozum café average working time is 50~120s

 From the above examples, we reduce the problem for our robot arm to:
 Total time for completing 1 cup of Espresso coffee: 90s
 Brewing speed of 1 cup of Espresso coffee: 30s
 Robot speed moves from point A to B (from point of taking cup to coffee maker):
20s
 Robot speed moves from point B to C (from the cup pick-up point to the coffee
delivery point): 40s

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3.3 Coffee cup picking mechanism:

-Espresso cups usually range in capacity from 60ml to 88ml, but are also available in
103ml and 118ml sizes. Thus, 1 cup of espresso requires 80ml.

Figure 3.5:Espresso [20]

 The cup to hold a cup of coffee will be a paper cup, with the bottom of the cup smaller than
the rim in size (7cmx6.7cmx5.2cm).

Figure 3.6:Paper cup [21]

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[20] "Standard coffee cup size," [Online]. Available: https://kaffavietnam.com/kich-

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