ISSN XXXX XXXX © 2019 IJESC

Research Article Volume 9 Issue No.3

Design and Analysis of Pick and Place Robot

S. Mohanavelan1, M. Madhan Kumar2, K. Mohanprabhu3, M. Narendhiran4, B. Om Adhavan5
Assistant Professor1, UG Student2, 3, 4, 5
Department of Mechanical Engineering
KSR Institute for Engineering and Technology, Namakkal, Tamilnadu, India

Abstract:
Robots are springing up everywhere like mushrooms having found a steady hold in the production industry. Not only do they
increase the productivity and efficiency of the system, but they also improve the accuracy and the uniformity of the products .
They are a sign of an ever developing technology. One of the most important indications would be the industrial pick and place
robot. The main objectives of this project are to design and implement a 5-DOF pick and place robotic arm. This project can be
operational in controlling, stating with simple tasks such as gripping, lifting, placing and releasing. This pick and place robot is
designed by using SOLIDWORKS18 software and fabricated by using 3D-printing technology.3D-printed models are
assembled with servo motors and connected with Arduino and Bluetooth module. Using Bluetooth module, arm is controlled
using smartphone. The gripper should be analyzed to calculate the stress and deformation that occurs, in which the structural
analysis of the gripper using the finite element method is performed.

Keywords:3D-Printing, Arduino, SOLIDWORKS 18, Servo motor, Bluetooth module.

1. INTRODUCTION  Controller

3D-Printed Pick and place robot is an emerging sector in both  Manipulator

robotics and mechatronics, gaining momentum through its use
of flexible materials in replacement of currently deployed hard,  Grippers
rigid metals. This pick and place robot aims at eliminating a
number of issues related to the use of current robotics in  Power source
industry. First and foremost, soft robots are much safer than
current robots due to their lighter weight and softer materials DESIGN OF PICK AND PLACE ROBOT
rapidly and cheaply in comparison to rigid robots. Soft robots
require the creation of a design and the purchase of cheaper The mechanical construction in this project is to build and
materials such as Arduino, Servo motors, Bluetooth module, assemble the robotic arm body. After giving a thorough
Screw, Bolt and nuts, etc,. 3D-Printed Pick and place robot is a consideration of all the preceding works in this field, a five
young and developing industry, because it is so new. These degree of freedom manipulator having variable programmed
robots largely function in the food packaging industries, motions to carry out variety of tasks in diverse environments is
utilizing anywhere from 2 fingers to pick and place objects chosen. This is a five-axis manipulator designed to pick and
such as circuit boards, water bottles, and even small retail place objects like chips, memory cards, processors, etc.
products. In this project summarizes the design, fabrication and
analysis processes of the pick and place robot. The end product It is driven by six servomotors and has a gripper as end-
is then used in picking and place of several products in the effectors. The gripper has two fingers grasping and
industry like other machines. Due to some technology manipulation of objects as big as a 150 ml cylindrical bottle
developments we decided to modify the material for entire pick and having a weight of about 150 gm throughout the arm’s
and place robot throughout the fabrication process. The pick workspace.
and place robot is designed in the Solid works 18software.
Ergonomics is also considered as one of the most important
design aspect. Analysis of the final CAD model is done on
ANSYS WORKBENCH 14.0. Different load cases are
considered during finite element analysis to ensure that the
gripper assembly can endure the forces acting during the
gripper motion.

2. PICK AND PLACE ROBOT

Pick and place robotic arm is a system which can be designed

in many different ways according to its applications. They
heavily depend on joints, which are used to join or connect the
two consecutive bodies in the robot and can be rotary joint.
Joints define the movement of the arm.Armdecide the degree of
freedom of the components. Consequently all robotic arm
consists of following basic components. Figure.2.1 Design of pick and place robot

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 DESIGN METHODOLOGY Specification Value
Number of axes 5
Number of DOF 5
Horizontal reach 150 mm
Vertical reach 240 mm
Drives 6 servo motors
Configuration Jointed arm(Articulated)
Work Envelope Waist Rotation – 180degrees
Shoulder Rotation – 180 degrees
Elbow Rotation – 180 degrees
Wrist Rotation – 180 degrees
Gripper Rotation -180 degrees

5. EXPERIMENTAL SETUP ANDDESIGN

CONSIDERATION

The methodology has been followed to the frame in

Solidworks and analysis it in the ANALSYS software. The
theoretical values are calculated and compared with actual
values.
Figure.1.Design components of pick and place robot.
3.MATERIALSSELECTION
The system is to be designed considering certain design
There are two most common materials used in this process are
parameters, components wise and is fabricated with design
plastics called Acrylonitrile Butadiene Styrene (ABS) and
specifications.
Polylactic Acid (PLA). Acrylonitrile butadiene styrene(ABS) –
it is a common thermoplastic polymer material. Its glass
transition temperature is approximately 105 °C (221 °F) DESIGN CONSIDERATION

Coming up next were put into thought in the structure

Density: 0.9 g/cm3 – 1.53 g/cm3
procedure. Electrical actuators DC servo are picked rather than
pressure driven and pneumatic actuators due to the little power
Poly or polylactic acid or polylactide is a biodegradable and
necessity and its light weight which is reasonable for this plan.
bioactive thermoplastic aliphatic polyester, which is derived
Materials utilized for the creation were privately sourced from
from renewable biomass, it is typically from fermented plant
accessible materials. The materials which will be utilized for
starch such as from corn, sugarcane.
the structure will be light in weight to decrease the weight
focus on the base and the shoulder. A continuous path
Density:1.210–1.430 g·cm−3
controller was chosen (Arduino was used). The torque is
completely adjusted by the inertia of the electric motors.
The material used for fabricating the pick and place robot is
ABS.
DENAVIT-HARTENBERG(D-H) NOTATION
4.SPECIFICATIONS OF ROBOT ARM
The definition of a controller with four joint-interface
parameters for each connection and a precise methodology for
This robot arm is a revolute type that intently looks like the
appointing right-gave orthonormal arrange outlines, one to
human arm. Shoulder or midriff that mounted on the base
each connection in an open kinematic chain, was proposed by
which can move the arm upto 180 degrees, it tends to be turned
Denavit &Hartenberg ,so is known as Denavit - Hartenberg
from level to vertical on each side.
(D-H) notation. Fig 1 shows a pair of adjacent links, link(i-1)
and link i, their associated joints, joint (i-1), i and (i+1), and
The shoulder utilizes extensive scale servo, give the torque
axis (i2), (i-1) and i respectively.
expected to lift the remainder of the arm, just as any item that
it might get a handle on. Joined to the shoulder piece is an
elbow that can travel through 180 degrees, likewise controlled A frame{i} is assigned to link i as follows:
by an expansive scale servo. The wrist is comprised of one
i.TheZi -1 lies along the axis of motion of the ith joint.
standard servo and can travel through 180 degrees, in vertical
ii.The Xi pivot is normal to the Zi-1 axis, and pointing
heading. Connected to the wrist is a two-fingered gripper that
far from it.
uses a one of a kind structure worked around a solitary
iii.The Yi axis completes the right – handed coordinate
standard servo.Thus the specification of robotic arm are
system as required.
mentioned below,

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The DH representation of a rigid link depends on four 𝑐4 −𝑠4 0(𝑎 ∗ 𝑐)4
geometric parameters associated with each links. These four 𝑠 𝑐 0(𝑎 ∗ 𝑠)4
3
T4 = 4 4 (5)
parameters completely describe any revolute or prismatic joint 0 0 1 0
as follows:
[0 0 0 1 ]
i.Connection length (ai) – separate estimated along xi 𝑐5 0 𝑠5 0
hub from the purpose of convergence of xi pivot with zi1 hub 𝑠 0−𝑐5 0
to the cause of edge {i}. 4
T5 = 5 (6)
0 1 0 𝑑5
ii.Link twist (αi) – angle between zi-1 and zi axes
measured about xi-axis in the right hand sense. 0
[00 0 1 ]
T5=
iii.Joint distance(di) - distance measured along zi-1
axis from the origin of frame {i-1} to intersection of xi axis 𝑐12 𝑐345 𝑠12 𝑐12 𝑠345 𝑠12 𝑑5 +𝑐12 𝑎4 𝑐34 +𝑐12 𝑎3 𝑐3
with zi-1 axis. 𝑠12 𝑐345 −𝑐12 𝑠12 𝑠345 −𝑐12 𝑑5 +𝑠12 𝑎4 𝑐34 +𝑠12 𝑎3 𝑐3
iv.Joint angle (θi) – angle between xi-1 and xi axes 𝑠345 0 −𝑐345 𝑎4 𝑠34 +𝑎3 𝑠3 +𝑑1
measured about the zi-1 axis in the right hand sense. [ 0 0 0 1 ]
(7)
𝑛𝑥 𝑜𝑥 𝑎𝑥 𝑝𝑥
𝑛𝑦 𝑜𝑦 𝑎𝑦 𝑝𝑦
T e= [ ] (8)
𝑛𝑧 𝑜𝑧 𝑎𝑧 𝑝𝑧
0 0 0 1
Where Te is end-effect or transformation matrix.
0
T5 = Te (9)
Where,

DH Conventions for frame assigning nx = c12*c345 ; ny = s12*c345 ; nz = s345 ;

ox = s12 ; oy = -c12 ; oz = 0 ;
Forward Kinematic ax = c12*s345 ; ay = s12*s345 ; az = -c345 ; (10)
In this study, the standard Denavit-Hartenberg (D-H) [9] px = s12*d5 + c12*a4*c34 + c12*a3*c3
convention and methodology are used to derive its kinematics. py = -c12*d5 + s12*a4*c34 + s12*a3*c3
Denavit-Hartenberg calculation finds the position and pz = a4*s34 + a3*s3 + d1
orientation of end-effector concerning base. Totally 20
Parameters are involved in 5- DOF robotic arm design as 5.ANALYSIS
shown in
The Stress and deformation of gripper assembly are important
Table 1 :D-H Parameter for 5 DOF Robotic Arm in the analysis of entire pick and place robot,in which the
structural analysis of gripper is done by finite analysis method.
Joint αide ai di θide
Type
i g mm mm g
1 Base 0 0 86 θ1
2 Shoulder 90 0 0 θ2
3 Elbow 0 96 0 θ3
4 Wrist 0 96 0 θ4
5 Gripper 90 0 60 θ5

Based on the DH convention, the transform at ion matrix

from joint i to joint i+1 is given by:

Cθi−SθiCαi SθiSαi 𝑎𝑖Cθi

i-1 Sθi CθiCαi −CθiSαi aiSθi
Ti = (1)
0 Sαi Cαi 𝑑𝑖
Figure.1. Total Deformation
[0 0 0 1 ]
where, Sθi=sin θi, Cθi =cos θi, Sαi=sin αi, Cαi=cos αi, Both the total deformation and equivalent stress reanalyzed
and shown with their maximum and minimum values.
𝑐1 −𝑠1 0 0
𝑠 𝑐 00
0
T1 = 1 1 (2)
0 0 1𝑑1
[0 0 0 1 ]
𝑐2 0 𝑠2 0
𝑠 0 −𝑐2 0
1
T2 = 2 (3)
0 1 0 0
[0 0 0 1 ]
𝑐3 −𝑠3 0(𝑎 ∗ 𝑐)3
2 𝑠3 𝑐3 0(𝑎 ∗ 𝑠)3
T3 = (4)
0 0 1 0
[0 0 0 1 ]
Figure.2. Equivalent Stress

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