PICK AND PLACE ROBOTIC ARM

Submitted in partial fulfillment of requirements for the degree of

BACHELOR OF TECHNOLOGY

By

Ayush Verma, Dheeraj Bumb and Kratika Goyal

ID’s- 11EJCEC039, 11EJCEC048& 11EJCEC070

Under the supervision of

Prof. Reema Agarwal

Professor, EC&E(JECRC, Jaipur)

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

JAIPUR ENGINEERING COLLEGE AND RESEARCH CENTRE, JAIPUR

MAY 2015

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ACKNOWLEDGEMENT

Words cannot suffice to even begin to show the gratitude we owe to the

people who helped me in this project but we will give it my best try.

First of all we would like to thank my supervisor, Prof.

ReemaAgarwal, Department of Electronics and Communication, Jaipur

Engineering College and Research Center, Jaipur of whom we are highly

indebted for her invaluable technical guidance and moral support during

the project work. This work could not have attained its present shape

without her generous help, invaluable suggestions, initiative & keen

interest in this work.

We would also like to extend my sincere gratitude to IndraSen Sir

for taking out time from his busy schedule and teaching us the basic

working and coding of ATmega16 for our project. Without his help

ATMEGA16 wouldn’t have been such a smooth platform to work upon.

We also take this opportunity to offer my sincere and whole hearted

gratitude Balram Sir for his constant motivation and support during the

course of the entire project.

We would also like to extend my thanks to my friends and

colleagues for helping me all the times and being very supportive.

Without all of you, this project would not have seen the light of the day.

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ABSTRACT

Mankind has always strived to give life like qualities to its artifacts in an attempt to

find substitutes for himself to carry out his orders and also to work in a hostile

environment. The popular concept of a robot is of a machine that looks and works like

a human being.

The industry is moving from current state of automation to Robotization, to increase

productivity and to deliver uniform quality. The industrial robots of today may not

look the least bit like a human being although all the research is directed to provide

more and more anthropomorphic and humanlike features and super-human

capabilities in these.

One type of robot commonly used in industry is a robotic manipulator or simply a

robotic arm. It is an open or closed kinematic chain of rigid links interconnected by

movable joints. In some configurations, links can be considered to correspond to

human anatomy as waist, upper arm and forearm with joint at shoulder and elbow. At

end of arm a wrist joint connects end effectors which may be a tool and its fixture or a

gripper or any other device to work.

Here how a pick and place robot can be designed for a workstation where loading and

packing of lead batteries is been presented. All the various problems and obstructions

for the loading process has been deeply analyzed and been taken into consideration

while designing the pick and place pick and place robot.

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CONTENTS

TITLE…………………………………………………………………………..1

ABSTRACT…………………………………………………………………….2

ACKNOWLEDGEMENT……………………………………………………..3

TABLE OF CONTENT………………………………………………………..4

LIST OF FIGURE……………………………………………………………...6

CHAPTER ONE…………………………………………………………………8

1.1INTRODUCTION TO PICK AND PLACE ROBOT………………………8

1.2 TYPES OF ROBOT…………………………………………………………9

1.3 AIM………………………………………………………………………….11

1.4 OBJECTIVE…………………………………………………………………11

1.5 SCOPE……………………………………………………………………….11

1.6 INTRODUCTION TO EMBEDDED SYSTEM…………………………….12

CHAPTER TWO…………………………………………………………………14

2.1 ATMEGA16 MICROCONTROLLER………………………………………14

2.2 HARDWARE COMPONENT EXPLANATION…………………………...15

2.3 CIRCUIT DIAGRAM……………………………………………………….35

CHAPTER THREE……………………………………………………………....36

3.1WORKING PROCEDURE………………………………………………….36

3.2 COSTING DETAILS………………………………………………………...42

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CHAPTER FOUR ……………………………………………………………….43

4.1SOFTWARE TOOLS………………………………………………………...43

4.2 SAFETY REQUIREMENT’S………………………………………………..46

CONCLUSION AND FUTURE SCOPE………………………………………47

REFERENCE……………………………………………………………………48

APPENDIX A………………………………………………………..49

Datasheet of L293D IC………………………………………………………………………………………………….

APPENDIX B……………………………………………………….52

Datasheet of 7805 IC……………………………………………………………………………………………………..

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6

LIST OF FIGURE

FIG 1.1 INDUSTRIAL ROBOT

FIG1.2 AGRICULTURE ROBOT

FIG1.3 TELE ROBOT

FIG1.4 HUMAN ROBOT

FIG1.5 BLOCK DIAGRAM OF EMBEDED SYSTEM

FIG2.1 PIN DIAGRAM OF ATMEGA16

FIG2.2 ATMEGA16 IC

FIG2.3 TYPICAL CRSTAL OSCILLATOR

FIG2.4 PULLUP RESISTOR

FIG2.5 ELECTROLYTIC CAPACITOR

FIG2.6 BASE IC OF 8PIN AND 40 PIN

FIG2.7 RESISTOR

FIG2.8 VOLTAGE REGULATOR

FIG2.9 IC HT12E

FIG2.10 RF TRANSMITTER

FIG2.11 RF RECEIVER

FIG2.12 IC HT12D

FIG2.13 PIN DIAGRAM OF L293D

FIG2.14 CIRCUIT DIAGRAM OF H BRIDGE

FIG 2.15 BLOCKS DIAGRAM OF L293D

FIG 2.16 DC MOTOR

FIG2.17 GRIPPER

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FIG2.18 LIFTER ASSEMBLY

FIG2.19 TRACK WHEEL

FIG2.20 METTALIC CHASIS

FIG2.21 BATTERY

FIG2.22 CONNCTION DIAGRAM OF CIRCUIT

FIG3.1 COMPLETE PROJECT

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CHAPTER -1

1.1 INTRODUCTION TO PICK AND PLACE ROBOT

Mechanical is the branch of engineering science & Technology related to

machinery, and their design, manufacture, application, and structural disposition.

Robotics is related to electronics, mechanics, and software. Robotics research today is

focused on developing systems that exhibit modularity, flexibility, redundancy, fault-

tolerance, a general and extensible software environment and seamless connectivity to

other machines, some researchers focus on completely automating a manufacturing

process or a task, by providing sensor based intelligence to the mechanical arm, while

others try to solidify the analytical foundations on which many of the basic concepts

in robotics are built.

In this highly developing society time and man power are critical constrains

for completion of task in large scales. The automation is playing important role to

save human efforts in most of the regular and frequently carried works. One of the

major and most commonly performed works is picking and placing of jobs from

source to destination.

Present day industry is increasingly turning towards computer-based

automation mainly due to the need for increased productivity and delivery of end

products with uniform quality. The inflexibility and generally high cost of hard-

automation systems, which have been used for automated manufacturing tasks in the

past, have led to a broad based interest in the use of mechanical arm capable of

performing a variety of manufacturing functions in a flexible environment and at

lower costs.The use of Industrial mechanical arm characterizes some of contemporary

trends in automation of the manufacturing process.However, present day industrial

mechanical arm also exhibit a monolithic mechanical structure and closed-system

software architecture.They are concentrated on simple repetitive tasks, which tend not

to require high precision.

The pick and place mechanical arm is a human controlled based system that

detects the object, picks that object from source location and places at desired

location. For detection of object, human detect presence of object and move machine

accordingly.

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FIG 1.1 INDUSTRIAL ROBOT

FIG 1.2 AGRICULTURAL ROBOT

FIG 1.3 TELE ROBOT

Industrial robots are found in a variety of locations including the automobile and

manufacturing industries. Robots cut and shape fabricated parts, assemble machinery

and inspect manufactured parts. Some types of jobs robots do: load bricks, die cast,

drill, fasten, forge, make glass, grind, heat treat, load/unload machines, machine parts,

handle parts, measure, monitor radiation, run nuts, sort parts, clean parts, profile

objects, perform quality control, rivet, sand blast, change tools and weld.

Outside the manufacturing world robots perform other important jobs. They can be

found in hazardous duty service, CAD/CAM design and prototyping, maintenance

jobs, fighting fires, medical applications, military warfare and on the farm.

1.2 TYPES OF ROBOTS AS PER APPLICATIONS

Nowadays, robots do a lot of different tasks in many fields.

And this number of jobs entrusted to robots is growing steadily.

That's why one of the best ways how to divide robots into types is

a division by their application.

1.2.1 INDUSTRIAL ROBOTS: Robots today are being utilized

in a wide variety of industrial applications. Any job that involves

repetitiveness, accuracy, endurance, speed, and reliability can be

done much better by robots, which is why many industrial jobs

that used to be done by humans are increasingly being done by

robots.

1.2.2 MOBILE ROBOTS: Also known as Automated Guided

Vehicles, or AGVs, these are used for transporting material over

large sized places like hospitals, container ports, and warehouses,

using wires or markers placed in the floor, or lasers, or vision, to

sense the environment they operate in. An advanced form of the

AGV is the SGV, or the Self Guided Vehicle, like Patrol Bot

Gofer, Tug, and Specie-Minder, which can be taught to

autonomously navigate within a space.

1.2.3 AGRICULTURE ROBOTS: Although the idea of robots

planting seeds, ploughing fields, and gathering the harvest may

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seem straight out of a futuristic science fiction book, nevertheless there are several

robots in the experimental stages of being used for agricultural purposes, such as

robots that can pick apples.

1.2.4 TELEROBOTS: These robots are used in places that are hazardous to humans,

or are inaccessible or far away. A human operator located at a distance from a Tele

robot controls its action, which was accomplished with the arm of the space shuttle.

Telerobots are also useful in nuclear power plants where they, instead of humans, can

handle hazardous material or undertake operations potentially harmful for humans.

1.2.5 SERVICE ROBOTS: The Japanese are in the forefront in these types of robots.

Essentially, this category comprises of any robot that is used outside an industrial

facility, although they can be sub-divided into two main types of robots: one, robots

used for professional jobs, and the second, robots used for personal use. Amongst the

former type are the above mentioned robots used for military use, and then there are

robots that are used for underwater jobs, or robots used for cleaning hazardous waste,

like.

HUMANOID ROBOT : A humanoid robot is a robot  with its body shape built to

resemble that of the human body. A humanoid design might be for resemble humans

functional purposes, such as interacting with human tools and environments, for

experimental purposes, such as the study of bipedal locomotion, or for other purposes.

In general, humanoid robots have a torso, a head, two arms, and two legs, though

some forms of humanoid robots may model only part of the body, for example, from

the waist up. Some humanoid robots may also have heads designed to replicate human

facial features such as eyes and mouths. Androids are humanoid robots built to

aesthetically.

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Figure 1.4…A humanoid robot

1.3 PROJECT AIM AND OBJECTIVE:

The aim of this project is design an autonomous robot with complete system allow the

robot wander about its environment and to interact with certain object that its

encounter. In order to achieve the aim of this project, several objectives are needed to

be complete.

1.4 IMPORTANCE OF WORK:

In this scenario, the industry having a problem by human life in some hazardous duty

service. Robot can work in environments so hazardous that an unprotected human

would quickly die

1.5 SCOPE OF PROJECT:

Industrial automation, equipment and goods carrier, tour guide in museum, deliver the

mail in office building, delivers medication in the hospital, can be used in place of

crane in various lifting and carriage application.

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Embedded System

Software Hardware

ALPCVB Etc.,

ProcessorPeripheralsmemory

1.6 INTRODUCTION TO EMBEDDED SYSTEMS

An embedded system is a system which is going to do a predefined specified task is

the embedded system and is even defined as combination of both software and

hardware. A general-purpose definition of embedded systems is that they are devices

used to control, monitor or assist the operation of equipment, machinery or plant.

"Embedded" reflects the fact that they are an integral part of the system. At the other

extreme a general-purpose computer may be used to control the operation of a large

complex processing plant, and its presence will be obvious.

All embedded systems are including computers or microprocessors. Some of these

computers are however very simple systems as compared with a personal computer.

The simplest devices consist of a single microprocessor (often called a "chip”), which

may itself be packaged with other chips in a hybrid system or Application Specific

Integrated Circuit (ASIC). Its input comes from a detector or sensor and its output

goes to a switch or activator which (for example) may start or stop the operation of a

machine.

Figure: 1.5 Block diagram of Embedded System

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Embedded consist of both software and hardware:

Memory: It is used to store data or address.

Peripherals: These are the external devices connected

Processor: It is an IC which is used to perform some task

Applications of embedded systems

Manufacturing and process control

Construction industry

Transport

Buildings and premises

Domestic service

Communications

Office systems and mobile equipment

Banking, finance and commercial

Medical diagnostics, monitoring and life support

Testing, monitoring and diagnostic systems

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CHAPTER – 2

HARDWARE DISCRIPTION

2.1.1 ATMEGA16 MICROCONTROLLERS:

The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture. By executing powerful instructions in a single clock cycle, theATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.

2.1.2 PIN CONFIGURATIONS:

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FIGURE 2.1 PIN DIAGRAM ATMEGA16

FIGURE2.2ATMEGA16 IC

2.2.1 Standard Features:

Advanced RISC Architecture– 131 Powerful Instructions – Most Single-clock Cycle Execution– 32 x 8 General Purpose Working Registers– Fully Static Operation– Up to 16 MIPS Throughput at 16 MHz– On-chip 2-cycle Multiplier• Nonvolatile Program and Data Memories– 16K Bytes of In-System Self-Programmable FlashEndurance: 10,000 Write/Erase Cycles– Optional Boot Code Section with Independent Lock BitsIn-System Programming by On-chip Boot ProgramTrue Read-While-Write Operation– 512 Bytes EEPROMEndurance: 100,000 Write/Erase Cycles– 1K Byte Internal SRAM– Programming Lock for Software Security• JTAG (IEEE std. 1149.1 Compliant) Interface– Boundary-scan Capabilities According to the JTAG Standard– Extensive On-chip Debug Support– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface• Peripheral Features– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and CaptureMode– Real Time Counter with Separate Oscillator– Four PWM Channels– 8-channel, 10-bit ADC

Programmable Serial USART– Master/Slave SPI Serial Interface– Programmable Watchdog Timer with Separate On-chip Oscillator– On-chip Analog Comparator• Special Microcontroller Features

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– Power-on Reset and Programmable Brown-out Detection– Internal Calibrated RC Oscillator– External and Internal Interrupt Sources– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standbyand Extended Standby• I/O and Packages– 32 Programmable I/O Lines– 40-pin PDIP, 44-lead TQFP, and 44-pad MLF• Operating Voltages– 2.7 - 5.5V for ATmega16L– 4.5 - 5.5V for ATmega16• Speed Grades– 0 - 8 MHz for ATmega16L– 0 - 16 MHz for ATmega16

2.2.2 PIN DESCRIPTION

VCC Digital supply voltage.

GND Ground.

Port A (PA7..PA0) Port A serves as the analog inputs to the A/D Converter.Port A also serves as an 8-bit bi-directional I/O port, if the A/D Converter is not used.Port pins can provide internal pull-up resistors (selected for each bit). The Port An output buffers have symmetrical drive characteristics with both high sink and source capability.When pins PA0 to PA7 are used as inputs and are externally pulled low, they will sourcecurrent if the internal pull-up resistors are activated. The Port A pins are tri-stated whena reset condition becomes active, even if the clock is not running.

Port B (PB7..PB0) Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for eachbit). The Port B output buffers have symmetrical drive characteristics with both high sinkand source capability. As inputs, Port B pins that are externally pulled low will sourcecurrent if the pull-up resistors are activated. The Port B pins are tri-stated when a resetcondition becomes active, even if the clock is not running.Port B also serves the functions of various special features of the ATmega16

Port C (PC7..PC0) Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for eachbit). The Port C output buffers have symmetrical drive characteristics with both high sinkand source capability. As inputs, Port C pins that are externally pulled low will sourcecurrent if the pull-up resistors are activated. The Port C pins are tri-stated when a reset

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condition becomes active, even if the clock is not running. If the JTAG interface isenabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activatedeven if a reset occurs.Port C also serves the functions of the JTAG interface and other special features of the ATmega16 .

Port D (PD7..PD0) Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for eachbit). The Port D output buffers have symmetrical drive characteristics with both high sinkand source capability. As inputs, Port D pins that are externally pulled low will sourcecurrent if the pull-up resistors are activated. The Port D pins are tri-stated when a resetcondition becomes active, even if the clock is not running.Port D also serves the functions of various special features of the ATmega16

RESET Reset Input. A low level on this pin for longer than the minimum pulse length will generate a reset, even if the clock is not running.

XTAL1 Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2 Output from the inverting Oscillator amplifier.

AVCC AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externallyconnected to VCC, even if the ADC is not used. If the ADC is used, it should be connectedto VCC through a low-pass filter.

AREF AREF is the analog reference pin for the A/D Converter.

About CodeExamplesThis documentation contains simple code examples that briefly show how to use variousparts of the device. These code examples assume that the part specific header file isincluded before compilation. Be aware that not all C Compiler vendors include bit definitionsin the header files and interrupt handling in C is compiler dependent. Pleaseconfirm with the C Compiler documentation for more details.

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2.2.3 CRYSTAL OSILLATOR

A crystal oscillator is an electronic oscillator circuit that uses the

mechanical resonance of a vibrating crystal of piezoelectric material to create an

electrical signal with a very precise frequency. This frequency is commonly used to

keep track of time (as in quartz wristwatches), to provide a stable clock

signal for digital integrated circuits, and to stabilize frequencies for radio

transmitters and receivers. The most common type of piezoelectric resonator used is

the quartz crystal, so oscillator circuits incorporating them became known as crystal

oscillators, but other piezoelectric materials including polycrystalline ceramics are

used in similar circuits.

Quartz crystals are manufactured for frequencies from a few tens of kilohertz to

hundreds of megahertz. More than two billion crystals are manufactured annually.

Most are used for consumer devices such as wristwatches, clocks, radios, computers,

and cell phones. Quartz crystals are also found inside test and measurement

equipment, such as counters, signal generators, and oscilloscopes.

A crystal is a solid in which the constituent atoms, molecules, or ions are packed in a

regularly ordered, repeating pattern extending in all three spatial dimensions.

Almost any object made of an elastic material could be used like a crystal, with

appropriate transducers, since all objects have natural resonant frequencies

of vibration. For example, steel is very elastic and has a high speed of sound. It was

often used in mechanical filters before quartz. The resonant frequency depends on

size, shape, elasticity, and the speed of sound in the material. High-frequency crystals

are typically cut in the shape of a simple, rectangular plate. Low-frequency crystals,

such as those used in digital watches, are typically cut in the shape of a tuning fork.

For applications not needing very precise timing, a low-cost ceramic resonator is often

used in place of a quartz crystal.

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When a crystal of quartz is properly cut and mounted, it can be made to distort in

an electric field by applying a voltage to an electrode near or on the crystal. This

property is known as electrostriction or inverse piezoelectricity. When the field is

removed, the quartz will generate an electric field as it returns to its previous shape,

and this can generate a voltage. The result is that a quartz crystal behaves like a circuit

composed of an inductor, capacitor and resistor, with a precise resonant frequency.

Quartz has the further advantage that its elastic constants and its size change in such a

way that the frequency dependence on temperature can be very low. The specific

characteristics will depend on the mode of vibration and the angle at which the quartz

is cut (relative to its crystallographic axes). Therefore, the resonant frequency of the

plate, which depends on its size, will not change much, either. This means that a

quartz clock, filter or oscillator will remain accurate. For critical applications the

quartz oscillator is mounted in a temperature-controlled container, called a crystal

oven, and can also be mounted on shock absorbers to prevent perturbation by external

mechanical vibrations.

Figure 2.3diagram of typical crystal oscillator generating a frequency of 11.0592

MHz

2.2.4 CERAMIC CAPACITOR:

A ceramic capacitor is a fixed value capacitor in which ceramic material acts as the

dielectric. It is constructed of two or more alternating layers of ceramic and a

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metal layer acting as the electrode The composition of the ceramic material defines

the electrical behavior and therefore applications. Ceramic capacitors are divided into

two application classes:

Class 1 ceramic capacitors offer high stability and low losses for resonant

circuit applications.

Class 2 ceramic capacitors offer high volume efficiency for buffer, by-pass and

coupling applications.

Ceramic capacitors, especially the multilayer style (MLCC), are the most produced

and used capacitors in electronic equipment that incorporate approximately one

trillion pieces (1000 billion pieces) per year.

Ceramic capacitors of special shapes and styles are used as capacitors for RFI/ MFI

suppression, as feed-through capacitors and in larger dimensions as power capacitors

for transmitter

2.2.5 Pull-up resistor:

Pull up resistor are used in electronic logic circuits to ensure that inputs to logic

systems settle at expected logic levels if external devices are disconnected or high

impedance is introduced. They may also be used at the interface between two different

types of logic devices, possibly operating at different power supply voltages

When the switch is open the voltage of the gate input is pulled up to the level of Vin.

When the switch is closed, the input voltage at the gate goes to ground.

A pull-up resistor weakly "pulls" the voltage of the wire it is connected to towards its

voltage source level when the other components on the line are inactive. When all

other connections on the line are inactive, they are high-impedance and act like they

are disconnected. Since the other components act as though they are disconnected, the

circuit acts as though it is disconnected, and the pull-up resistor brings the wire up to

the high logic circuits When another component on the line goes active, it will

override the high logic level set by the pull-up resistor. The pull-up resistor ensures

that the wire is at a defined logic level even if no active devices are connected to it.

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A pull-down resistor works in the same way but is connected to ground. It holds the

logic signal near zero volts when no other active device is connected.

.

Figure 2.4 pull up resistor

ELECTROLYTIC CAPACITOR: electrolytic capacitor is a capacitor that uses

an electrolytic (an ionic conducting liquid) as one of its plates to achieve a larger

capacitance per unit volume than other types. The large capacitance of electrolytic

capacitors makes them particularly suitable for passing or bypassing low-frequency

signals and storing large amounts of energy. They are widely used in power supply

and interconnecting stages of amplifiers at audio frequencies. An electrolytic capacitor

will generally have higher leakage current than a comparable (dry) capacitor, and may

have significant limitations in its operating temperature range, parasitic resistance and

inductance, and the stability and accuracy of its capacitance value.

FIGURE 2.5 A Electrolytic capacitor

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2.2.7 BASES OF IC : IC sockets are generally for preventing damage to IC's from

soldering and while testing multiple circuits. These are made from Black

Thermoplastic and tin-plated alloy contacts. One end is notched to aid in

identification. They can be mounted end to end to suit longer IC's

Figure 2.6 base of 40 and 8 pin respectively

2.2.8 RESISTOR: These do exactly what they say, they resist the flow of electron.

These are necessary for several reasons. They control how much current goes down to

each wire. They control the power uses. They can control voltages (since current,

resistance)

The last point is important as it is the basis of Ohm's law, V=IR. Voltage = Current x

Resistance. For example, suppose you take a resistor and connect the two ends of a

battery with it. You know that your battery is 9V (or whatever) and you know the

resistor is 3Kohm (determined by the color stripes on the resistor), so 9V divided by

3Kohm is .003amps (3 milliamps). So why is this information useful? Well now that

you know the current, you can determine other useful things such as power. P=IV.

You will notice that if you increase resistance, you decrease current. If you decrease

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current, you decrease power use. Put a 1ohm resistor between the battery and it will

get so hot it could burn because of the power use. Use a 100Kohm resistor and almost

no power at all will be used.

Figure 2.7 Resistor

2.2.9 VOLTAGE REGULATOR

Figure 2.8 voltage regulator IC 7805

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A voltage regulator is an electrical regulator designed to automatically maintain a

constant voltage level. It may use an electromechanical mechanism, or passive or

active electronic components. Depending on the design, it may be used to regulate one

or more AC or DC voltages. There are two types of regulator are they.

Positive Voltage Series (78xx) and

Negative Voltage Series (79xx)

78xx: ’78’ indicate the positive series and ‘xx’indicates the voltage rating. Suppose

7805 produces the maximum 5V.’05’indicates the regulator output is 5V.

79xx: ’78’ indicate the negative series and ‘xx’indicates the voltage rating.

Suppose 7905 produces the maximum -5V.’05’indicates the regulator output is -5V.

These regulators consists the three pins there are

Pin1: It is used for input pin.

Pin2: This is ground pin for regulator

Pin3: It is used for output pin. Through this pin we get the output.

2.2.10 ENCODER IC (HT12E)

HT12E is a remote control encoder paired with HT12D utilizing CMOS technology. It

encodes data and address pins into serial coded waveform suitable for RF or IR

modulation. HT12E has a maximum of 12 bits of tri-state address pins providing up to

312 address codes; thereby, drastically reducing any code collision and unauthorized

code scanning possibilities. The pin description is shown below. It has 4 input while 1

output pin. The address pins can also be utilized as data pins.

25

Figure 2.9 HT12E IC

PIN NO. SYMBOL FUNCTION

1-8 A0-A7 Address pins

9 Vss Ground pin

13-10 D0-D3 Output pins

14 TE Enables the transmission

15-16 Osc1-Osc2 R-osc of 470K ohm is connected

17 Dout Output for transmission

18 Vcc 5V supply voltage

Table 3-3 Pin description for HT12E

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2.2.11 RF MODULE (Rx/Tx)

Radio frequency (RF) is a rate of oscillation in the range of about 3 KHz to 300 GHz,

which corresponds to the frequency of radio waves, and the alternating currents which

carry radio signals.

Although radio frequency is a rate of oscillation, the term "radio frequency" or its

abbreviation "RF" are also used as a synonym for radio – i.e. to describe the use of

wireless communication, as opposed to communication via electric wires

The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters.

Figure 2.10 RF Transmitter

PIN FUNCTION

VCC 5V supply

GND Ground pin

Data Input from pin 17 of HT12E for data transmission

Ant A wire attached here works as an antenna

Table 3-3 Pin description for RF Tx

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Figure 2.11 RF Receiver

2.2.12 DECODER IC (HT12D)

HT12D is a remote control decoder paired with HT12E utilizing CMOS Technology.

It has 12 bits of tri-state address pins providing a maximum of 312 address codes;

thereby, drastically reducing any code collision and unauthorized code scanning

possibilities. The input data is decoded when no error or unmatched codes are found.

It has 1 input while 4 output pins. The address pins can also be utilized as data pins.

Figure 2.12 HT12D IC

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PIN FUNCTION

VCC 5V supply

GND Ground pin

Data Output to pin 14 of HT12D for data transmission

Ant A wire attached here works as an antenna

Table 4-1 Pin description for RF Rx

PIN NO. SYMBOL FUNCTION

1-8 A0-A7 Address pins

9 Vss Ground pin

13-10 D0-D3 Output pins

14 Din Input from RF

15-16 Osc1-Osc2 Rosc of 470K ohm is connected

17 VT Indicates valid transmission

18 Vcc 5V supply voltage

Table 4-2 Pin description for HT12D

2.2.13 L293D( H-BRIDGE):

4 5 12 13

16 8

1

2

15

9

7

10

314

6

11

VCC1- LOGIC SUPPLY= 5V

LM+ OUTPUT FOR MOTOR1

OUTPUT FOR MOTOR2

L_IN1

L_EN

GND

L293DINPUT LINES

R_EN

L_IN2

R_IN2

R_IN1

LM-

RM+

RM-

Figure 2.13 PIN DIAGRAM OF L293D IC

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Motor are arrange in a fashion called H bridge. H bridge is an electronics circuits

which enables a voltage to be applied across the load in either direction. It allow a

circuit full control, that is an H bridge, a microcontroller logic chip, or remote control

can electronically command the motor to go forward ,reverse and brake

An H-bridge is an electronic circuit which enables DC electric motors to be run

forwards or backwards. These circuits are often used in robotics. H-bridges are

available as integrated circuits, or can be built from discrete components.

Figure 2.14 circuit diagram of H bridge

The two basic states of a H-bridge. The term "H-bridge" is derived from the typical

graphical representation of such a circuit. An H-bridge is built with four switches

(solid-state or mechanical). When the switches S1 and S4 (according to the first

figure) are closed (and S2 and S3 are open) a positive voltage will be applied across

the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this

voltage is reversed, allowing reverse operation of the motor.

Using the nomenclature above, the switches S1 and S2 should never be closed at the

same time, as this would cause a short circuit on the input voltage source. The same

applies to the switches S3 and S4. This condition is known as shoot-through.

2.2. 13.1 OPERATION

The H-Bridge arrangement is generally used to reverse the polarity of the motor, but

can also be used to 'brake' the motor, where the motor comes to a sudden stop, as the

motors terminals are shorted, or to let the motor 'free run' to a stop, as the motor is

effectively disconnected from the circuit. The following table summarizes operation.

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S1 S2 S3 S4 Result

1 0 0 1 Motor moves right

0 1 1 0 Motor moves left

0 0 0 0 Motor free runs

0 1 0 1 Motor brakes

Table: 2.2 H-bridge switch operation

2. 2.13.2 H-BRIDGE DRIVER

The switching property of this H-Bridge can be replaced by a Transistor or a Relay or

A Mosfet or even by an IC. Here we are replacing this with an IC named L293D as

the driver whose description is as given below. The Device is a monolithic integrated

high voltage, high current four channel driver designed to accept standard DTL or

TTL logic levels and drive inductive loads as and switching power transistors. To

simplify use as two bridges each pair of channels is equipped with an enable input. A

separate supply input is provided for the logic, allowing operation at a lower voltage

and internal clamp diodes are included. This device is suitable for use in switching

applications at frequencies up to 5 kHz. The L293D is assembled in a 16 lead plastic

package which has 4 center pins connected together and used for heat sinking The

L293D is assembled in a 20 lead surface mount which has 8 center pins connected

together and used for heat sinking.

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2.2.13.3 FEATURES

600mA OUTPUT CURRENT CAPABILITY

PER CHANNEL

1.2A PEAK OUTPUT CURRENT (non repetitive)

ENABLE FACILITY

OVERTEMPERATURE PROTECTION

LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V

(HIGH NOISE IMMUNITY)

INTERNAL CLAMP DIODES

2.2.13.4 BLOCK DIAGRAM:

Figure 2.15 block diagram of LM293D

2.2. 14 DC MOTORS:

These are very commonly used in robotics. DC motors can rotate in both directions

depending upon the polarity of current through the motor. These motors have free

running torque and current ideally zero. These motors have high speed which can be

reduced with the help of gears and traded off for torque. Speed Control of DC motors

is done through Pulse Width Modulation techniques, i.e. sending the current in

intermittent bursts. PWM can be generated by 555 timer IC with adjusted duty cycle.

Varying current through the motor varies the torque.

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FIGURE 2.16 (DC MOTOR

GRIPPER ARM: The gripper module is state of the art robotic arm which can be

used in various 'pick and place' kind of robots. It works on DC Motor (9 to 12V

DC).

Change in rotation direction of the DC Motor, generates Jaw Open & Close

Action.

The DC motor can be easily be controlled with the help of DPDT Switch (manual

mode) or with the help of any micro controller along with L293D Motor Driver

module.

FIGURE 2.17 Gripper Arm

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LIFTER ASSEMBLY: The LIFTER module is state of the art robotic arm which

can be used in various 'pick and place' kind of robots. It works on DC Motor (9 to

12V DC).

Change in rotation direction of the DC Motor, generates Jaw Open & Close

Action.

The DC motor can be easily be controlled with the help of DPDT Switch (manual

mode) or with the help of any micro controller along with L293D Motor Driver

module.

Figure 2.18 Lifter assembly

TRACK WHEEL: Track wheel is a circular wheel with rubber grip fastened on DC motor

shaft by screw. Track wheel provide help in movement of robot in any direction.

Figure 2.19 Track wheel

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CHASSIS: A chassis  consists of an internal framework that supports a man-made

object in its construction and use. It is analogous to an animal's skeleton. An example

of a chassis is the under part of a motor vehicle, consisting of the frame (on which the

body is mounted). Here metallic chassis is used.

FIGURE 2.20 A metallic chassis

POWER SUPPLY: To provide energy to DC motors for movement of robot A

Battery of DC (6 volt to 12 V, 4.5A) is being used.

Figure 2.21 Battery

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2.3 CIRCUIT DIAGRAM:

TRANSMITTER

RECEIVER

FIGURE 2.22 CONNECTION DIAGRAM OF CIRCUIT

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3. WORKING PROCEDURE

3.1 WORKING

Pick and Place Robots can be mounted on a stand to allow the robots to access the entire working envelope. Product will enter the robotic work envelope after its orientation has been identified by an upstream vision system. Using custom end of arm tool, the product will be picked and placed by the robot at the desired location.

Wireless Communication

The wireless control systems have become an essential part of everyday life ranging from garage door

openers to smart metering systems. The communication in such systems involves transfer of

information from a controller to a remote robot without any physical connections.

There are quite a large number of wireless data communications systems available in the developing

world today ranging from short distance to long distance communications involving RF, GSM, GPS,

IR, Bluetooth and Zigbee technologies. At present, the RF communication is very important to transfer

information over a short distance. This RF technology enables public or private radio communications

with wireless networking features.

What is a Remote Robot?

A remote robot is a device that is able to move and interact with the external control.  Remote control

robots can perform a wide range of functions by simply following remote control commands. Remote

robots are placed and operated in hazardous and dangerous environments where human beings are

restricted owing to the dangers associated with such places.

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Pick and Place Remote Robot

Remote robots consist of transmitter and receiver modules. The transmitter module creates

electromagnetic waves in a particular frequency range and the receiver module receives these signals.

The microcontroller decodes these signals and uses them to control the other peripherals of robot like

arms, wheels, etc.

There are several varieties of remote robots available such as firefighting robot, spy-control robot and

metal detector robot, etc. The subsequent paragraphs provide information about advanced pick and

place remote robots that are used in many industries for lifting heavy weights, and such robots are

based on RF communication technology.

Pick and Place Remote Robot

Description

A pick and place robot speeds up the process of choosing an object and placing it in the desired location

and thus increases the production rate. It can be used in surveillance, and can also be used to pick up

harmful objective like bombs and then to diffuse them safely. It is a cylindrical robot that possesses

movements like forward, backward, left and right based on the RF commands.

Working Procedure of the Pick and Place Remote robot

In this system, a pick and place robot is controlled with the push-buttons arranged in the remote. On

pressing a corresponding button, a command signal is transmitted to the robot such that the robot moves

in the appropriate direction. This project consists of two blocks: transmitter and receiver block. The

commands send by a user from the transmitter block are received by the receiver block to perform

desired actions.

The Transmitter Block or Remote Block

The transmitter block consists of an RF transmitter module that is interfaced to the microcontroller

through an encoder. The push buttons give decimal inputs to the microcontroller. On pressing any push

button, it generates a decimal number, which is converted to a 4-digits binary by the microcontroller

and is sent to the encoder. The encoder converts this parallel data to a serial data and fed that data to the

RF transmitter wherein the data is transmitted through a fitted antenna.

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Transmitter block of pick and place robot

Receiver Block

The receiver block consists of an RF receiver interfaced to the microcontroller through a decoder. The

RF receiver, after receiving the commands with a serial format from the transmitter, transmits them to

the decoder. The decoder then converts the serial data to a parallel data and gives it to the

microcontroller. The Microcontroller, after generating the appropriate input signals, directs them to the

motors to move the accessories of the robot in different directions.

The system consists of two motors for providing motion to the whole robot and to two other motors,

which provide motion to the arm. The gripper needs to be controlled in order to apply proper pressure

on the object to handle it effectively. This is ensured by controlling the arm motors through a proper

command.

Receiver block of pick and place robot

Short Description on Radio Frequency Technology (RF)

39

The RF communication is a short distance communication that consists of a receiver and a transmitter

module. The transmitter creates a magnetic wave at a particular frequency and the receiver takes this

signal. The microcontroller decodes this signal and uses it to control other peripherals.

Generally, the RF module works with SUB-GHz and GHz frequencies. The following SUB-GHz

frequency RF module works with 433MHz frequency and operates within a voltage range of 3 to 12v.

RF Transmitter and Receiver

As compared to the other radio-frequency devices, the performance of an RF module depends on

several factors like transmitting power because increasing the transmitter’s power results in large

communication distance coverage. However, this may result in high electrical power drain on the

transmitter device, which causes shorter operating life of the battery powered devices. And also, the

usage of this device at a higher transmitted power creates interference with other RF devices.

Applications of Pick and Place robot

Medical Applications: These robots can be used in various surgical operations like in joint

replacement operations, orthopedic and internal surgery operations. They perform the operations with

more precision and accuracy.

Industrial Applications: These robots are used in manufacturing segments to pick up the required

parts and place them in correct positions to complete the machinery fixture. They can also be used to

place objects on a conveyer belt as well as to pick up defective products from the conveyer belt.

Defense Applications: They can be used for robot performed   military applications  such as surveillance

and also to pick up harmful objects like bombs and diffuse them safely.

A Pick and Place Robots find its use in different factories, automobile industries, in making and packaging drugs, textiles and foods and recently in chocolate factories for assembling and packaging.

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But the most important of all the applications of Pick and Place Robots is considered in DEFENCE where a remotely Guided robot with a Video Camera and small Shot Gun, can be sent to investigate and defuse possible bombs (BOMB DISPOSAL).

A Robot named BOMB BUSTER is currently in use across many country for diffusing and detonating bombs, either by blasting with water, firing them with a shotgun or placing other bombs bearby them.

Robots can also venture into dangerously polluted areas as chemical spills and radioactive zones such as in nuclear power plants.

DISADVANTAGES

Expense:The initial investment to integrated automated robotics into your business is

significant, especially when business owners are limiting their purchases to new

robotic equipment. The cost of robotic automation should be calculated in light of a

business' greater financial budget. Regular maintenance needs can have a financial

toll as well.

ROI:

Incorporating industrial robots does not guarantee results. Without planning,

companies can have difficulty achieving their goals.

Expertise:Employees will require training program and interact with the new robotic equipment.

This normally takes time and financial output.

Safety:Robots may protect workers from some hazards, but in the meantime, their very

presence can create other safety problems. These new dangers must be taken into

consideration.

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42

3.2 Costing Details

S.No. Name of Component Price Quantity Total Cost1. Arm 1200 1 1200

2. IC HT12D 165 1 165

3. IC HT12E 165 1 165

4. Circuit Board 25 4 100

5. Belt 250 1 250

6. Battery (6V) 200 1 200

7. Connecting wires 6per(m) 5m 30

8. L293D 30 4 60

9. 7805 20 2 40

10. Battery (9V) 20 3 60

11. Soldering Iron 200 1 200

12. Soldering Wire 50 2 100

13. Battery Caps 2 10 20

14. Multimeter 100 1 100

15. DC motor 170 7 1190

16. Single Pin Connectors 30 5 150

17. Wheels 60 4 240

18. Chasis 100 1 100

19. RF Transmitter 250 1 250

20. RF Receiver 300 1 300

21. ATmega16 controller 150 4 600

Fig 6.5 Table of costing details of all components of the Project

The total cost of the project hence was about Rs. 5640(approx.)

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CHAPTER 4

4. SOFTWARE TOOLS

4.1 AVR studio:

AVR Studio is an Integrated Development Environment (IDE) for writing and debugging AVR applications in Windows 9x/ME/NT/2000/XP/VISTA environments. AVR Studio provides a project management tool, source file editor, simulator,assembler and front-end for C/C++, programming, emulation and on-chip debugging.

AVR Studio supports the complete range of ATMEL AVR tools and each release will always contain the latest updates for both the tools and support of new AVR devices.

AVR Studio 4 has a modular architecture which allows even more interaction with 3rd party software vendors.  GUI plug-ins and other modules can be written and hooked to the system.  Please contact us if you are interested in more information about this.

TRANSMITTER’S BLOCK :

#include<avr/io.h>

#include<util/delay.h>

void main()

{

DDRA=0XF0;

DDRC=0XFF;

DDRB=0XFF;

while(1)

{ PORTA=0X1F;

{_delay_ms(40);

if(PINA==0X1E)

{ PORTB=0X01;

PORTC=0X01;

_delay_ms(40);

}

44

else if(PINA==0X1D)

{ PORTB=0X02;

PORTC=0X02;

_delay_ms(40);

}

else if(PINA==0X1B)

{

PORTB=0X03;

PORTC=0X04;

_delay_ms(40);

}

else if(PINA==0X17)

{ PORTB=0X04;

PORTC=0X08;

_delay_ms(40);

}

}

PORTA=0X2F;

{

_delay_ms(40);

if(PINA==0X2E)

{ PORTB=0X05;

PORTC=0X01;

_delay_ms(40);

}

else if(PINA==0X2D)

{ PORTB=0X06;

PORTC=0X02;

_delay_ms(40);

}

else if(PINA==0X2B)

{ PORTB=0X07;

PORTC=0X04;

_delay_ms(40);

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}

else if(PINA==0X27)

{ PORTB=0X08;

PORTC=0X08;

_delay_ms(40);

}

}

}

}

RECEIVER’S BLOCK :

#include<avr/io.h>#include<util/delay.h>

//adc_read(int);

void main()

{

DDRD=0xff;

DDRB=0Xf0;

DDRC=0xff;

int a=0;

while(1)

{ if(PINB==0X01)

{

PORTD=0X05;

PORTC=0x01;

_delay_ms(10);

}

if(PINB==0x02)

{

PORTD=0X06;

PORTC=0x02;

_delay_ms(10);

}

if(PINB==0x03)

{

PORTD=0X00;

46

PORTC=0x04;

_delay_ms(10);

}

if(PINB==0x04)

{

PORTD=0X0A;

PORTC=0x08;

_delay_ms(10);

}

if(PINB==0X05)

{

PORTD=0X10;

PORTC=0x01;

_delay_ms(10);

}

if(PINB==0x06)

{

PORTD=0X20;

PORTC=0x02;

_delay_ms(10);

}

if(PINB==0x07)

{

PORTD=0X40;

PORTC=0x04;

_delay_ms(10);

}

if(PINB==0x08)

{

PORTD=0X80;

PORTC=0x08;

_delay_ms(10);

}

}

}

4.2 SAFETY REQUIREMENTS

47

The various safety requirements which were considered while designing the robot are decided as follows:

1. The Robot should not be programmed such that it should damage the Battery while holding it in its gripper.

2. Correct holding position should be set as if it not set then while movement of the Robot it may drop the Lead Batteries which can arise a Hazardous situation in the industry.

3. The Robot should be interfaced properly with the sensors been placed near the Belt conveyor so as to know when the belt conveyor is to be stopped or to be started to move the batteries ahead.

4. Load carrying capacity should be maintained as it should be always more than the default load which is to be shifted.

CONCLUSION AND FUTURE SCOPE

CONCLUSION:

In this project we have studied and implemented a Pick and Place Robot using a

Microcontroller. The programming and interfacing of microcontroller has been

mastered during the implementation.

FUTURE SCOPE:

Smarter versions of pick and place robot are used to deliver mails within office

building and deliver medications in a hospital.

This technology has been suggested for running buses and other mass transit

systems and may end up as a part of autonomous cars navigating the freeway.

Used in heavy machinery industry

Used where high load and risky operation going on

Use in place of the crane

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REFERENCES :

www.avrfreaks.com,Microcontrollers,Atmel

septiembre-2001. www.atmel.com

The 8051 Microcontroller and Embedded Systems Using Assembly and C

By Muhammad Ali Mazidi, Janice Gillispie Mazidi & Ro linD. McKinley

Atmel Corp. Makers of the AVR

microcontroller

www.atmel.com

www.electronic projects.com

www.howstuffworks.com

Electrikindia.

EMBEDDED SYSTEM BY RAJ KAMAL

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APPENDIX A

Datasheet of IC L293D

50

51

APPENDIX BDatasheet of IC 7805

52

53

54

55

56