Pic & Place_AIUB-Undergrad_Project
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Micro- controller Controlled Pick & Place Robot Welcome to the presentation of American International University – Bangladesh (AIUB) (School of Engineering)
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Design and implementation of a Pick and Place Robot Controlled by Microcontroller with C programming and by Servo Motor@AIUB with faculty of EEE- Dr. MD Abdul Mannan It was a presentation of project defence of Undergrad, group presentation. For industrial application (for picking foods and put it in a specific location like in a packet) with the help of MicroC pro for AVR (C language for compilation) and Proteus 7.8sp2 (design the circuit for simulation). Have used RC Servo Motors for rotational purpose and sequentially the movement is controlled by ATmega16. It can do repeatable tasks with accuracy. The project got four parts: • Mechanical Part: Totally three rotational arms were with three servo motors, one at base, second at arm, third and the last at gripper to grip and hold the object. Working process is such that first the all three movable parts will be at 0 degree (initial position), when it gets the power base, arm and gripper moves +90, +90 and +55 degree respectively, then it is switched base moves to again 0 degree, arm moves 0 degree then gripper grab the object, after grabbing the object, arm goes to +90 degree, base moves +90 degree, then arm again goes to 0 degree, gripper put the object, then if it is switched the cycle is repeated. Servo motor is chosen for its precise position control and high torque with small voltage supply. • Electrical Part: It is the power circuit, which takes the power from main supply (220v ac) and converts to suitable condition (at 5v dc) for feeding to servo motors and mcu’s internal supply. The circuit uses a step down transformer (220/5v ac), a mcu ATmega16, two capacitors, two IC 7005, a buzzer and three LEDs. Buzzer and LEDs are used for alerting that the specific movement is done. • Coding Part: This part goes with C programming which is the burned to mcu ATmega16 by burner circuit. C programming is done on software MicroC pro for AVR (which is dedicated for AVR) and this program (which is burned to the mcu) controls the rotation of the arms (servo motors) by ATmega16. • Design Part: This part includes the simulation (for making a sketch) of the circuit (other than the power circuit) before implementing it with mechanical part into real world. The designed circuit implementation checked the code by loading the code into mcu with an hexa file generated from the C code. The Circuit design simulation is done on Proteus 7.8sp2.
Transcript of Pic & Place_AIUB-Undergrad_Project
Micro-controller Controlled
Pick & Place Robot
Welcome to the presentation of
American International University –
Bangladesh (AIUB)(School of Engineering)
Project Supervisor: Dr. Mohammad Abdul Mannan
Assistant Professor, Faculty of Engineering, AIUB
Project External: Dr. Bashudeb Chandra Ghosh
Professor, faculty of Engineering, AIUB.
Presented By:
Nusrat Irin Chowdhury Mary... 08-11272-2 Sakee Kawsar…………..…..... 08-11100-2 Sadik Mohammad………….… 08-10847-2
Objectives of Our Pick And Place Robot
To design a robot to pick some object and place it in the desire place.
To implement a versatile and low cost robotic arm.
Can be used in different rotation by changing the program.
What is “Robot”?
The word robot comes from the Czech word robota (compare with the Russian rabota for "to work") meaning "drudgery", "servitude", or“ forced labor", especially the so-called "labor rent" that survived in the Austro-Hungarian Empire until 1848.
Introduction
Pick and Place Robot
A pick and place robot is a material handling robot that can work 24 hours a day without fatigue. This robot is common in industries.
Benefits of Pick and Place Robot
• Accuracy• Flexible• Increasing
Consistency• Space Efficient• Maximize Safety• Saving cost
Overview of the Project
AC Input
Center tapped Step
Down Transformer
Diode or Rectifier
Voltage Regulator
MCUAtmega1
6
Base RC Servo
Front RC Servo
Gripper RC Servo
Center Tapped Full Wave Rectifier Circuit
Rectifier
• A Semiconductor Diode is a device that allows current to flow in one direction only. A Diode is also known as a Rectifier.
• The purpose of the rectifier section is to convert the incoming ac from a transformer or other ac power source to some form of pulsating dc.
Voltage Regulator
• The LM7805: A series of three terminal regulators is available with fixed output voltage of 5V. 7805 is a voltage regulator integrated circuit.
• The voltage regulator IC maintains the output voltage at a constant value.
• It is a member of 78xx series of fixed linear voltage regulator IC’s.
What is servo Motor?A servo Motor is a motor that has an internal gear –based transmission system and electronic control of the position of the motors head.
BaseArmGripper
Body Part, connected with Base RC Servo motor which carry the arm and gripper and rotate up to a certain degree.Arm Part, connected with Front RC Servo motor which carry the gripper.
Gripper Part, connected with Gripper RC Servo motor which control the hold and leave of desired object.
Servo motors were used to rotate the three body parts:
Why Servo Motor is chosen?
High torqueSmall sizeCapable of holding a static position(no motion)It has an internal control circuitThey do not overheat at standstill or lower speedsElectrically efficientServo motor operate in a close loop so they are
very accurateThey are able to accelerate or decelerate quickly
Servo Motor controlServo Motor can be rotated to a desired angular position by sending Pulse Width Modulation(PWM) signal to its control wire.
PWM is a powerful technique for controlling analog circuit with a processor's digital outputs.
What is PWM?
Controlling of Servo Motor
PWM Pulse Width Modulation (PWM) ….to get different angular position
Microcontroller
Microcontroller is a small computer on a single integrated circuit containing a processor core, memory and programmable I/O peripherals. Microcontrollers live in a digital world then their output pins can be either low (0v) or high (5v).
Microcontroller ATmega 16 pin configuration
Port A
Port CPort D
Port B
8 Pin
ATmega 16 pin configuration• Since microcontrollers live in a digital world then their
output pins can be either active low (0v) or high (5v). However: the rest of the world tends not to speak such an open-or-shut case i.e. the rest of the world tends to be analogue. Rather than just being on or off: motors tend to need speed control, lighting may need to be dimmed, servos need to move to a particular position, buzzers need a sound frequency etc.
• AVR microcontrollers have Analogue To Digitals Convertors (ADC) to convert a voltage from the analogue world to a number but do not have Digital to Analogue Convertors (DAC) to convert digital numbers back into variable voltages.
• By turning an output pin repeatedly high and low very quickly then the result is an average of the amount of time the output is high. If it is always low the result is 0v, always high then the result is 5v, if half-and-half then the result is 2.5v.
ATmega16 MicrocontrolleFeatures
• AVR – High-performance and Low-power RISC Architecture
• Non-volatile Program and Data Memories• JTAG Interface (IEEE 1149.1 Compliant)• Peripheral Features• Special Microcontroller Features• Speed Grades
Simulation
Screen shot for the simulation
Designing of project in the virtual world
Start, pause, stop
Compilation in MicroC ProCoding
Comment
Burningprocess
eXtreme Burner v1.2
Burning process(continued)
GUI Software with USB 2.0
Successfully Burning
Completed
Project BodyImplementation
Implementation of Power Supply Circuit
Electrical Equipment's
• A Step Down Center-Tapped Transformer • Two pieces of Semiconductor Silicon Diodes with internal
voltage drop of 0.7V• Two pieces of Capacitor• Two pieces of Voltage Regulator IC (IC 7805)• Microcontroller of ATMEL (ATmega16L 8PU)• Three pieces of RC Servo Motors (two pieces are of model
SG-5010 and a piece of SG-91R)• Sounder or Buzzer• A two pin Switch• Three pieces of LED• Bread Board• Wires
Mechanical Equipment’s
Body part is made of hard paper
Burner Circuit of ATMEL (AVR Programmer)
A USB 2.0 Cable SPI interface
Electrical & Mechanical
Equipment’s Joiner
Motor Indication
Base RC SG-5010 Servo Motor
Front Arm RC SG-5010 Servo Motor
Gripper RC SG- 91 Servo Motor
The Flow Diagram
showing the movement
of the three RC servos.
Base Servo (BM) Rotate from 0 to -90 degreeFront Servo (FM) Rotate from 0 to +90 degree
Gripper Servo (GM) Rotate from 0 to +55.9 degree
Switc
hed
is
Pres
sed
FM Rotate from +90 to 0 degree
GM Rotate from +55.9 to 0 degree
FM Rotate from 0 to +90 degree
BM Rotate from 0 to -90 degree
FM Rotate from +90 to 0 degree
GM Rotate from 0 to +55.9 degree
FM Rotate from 0 to +90 degree
BM Rotate from -90 to 0 degree
For Initialization Three RC Servo will Rotate at
the Same time
After pressing switch, this
step complete the cycle.
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9
Step 10
YES
Initial Position (1st Step)Assuming all the motors are in 0
degree
After Initialization (2nd Step)After getting voltage all of three motors
are moving
After pressing the Switch (3rd Step)
4th & 5th Step
6th Step
7th Step
8th & 9th Step
10th Step
That is all about the presentation(Thank You)
