RF Based Pick And Place Robotic Arm

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Pick N Place Robot
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Pick N Place Robot
Introduction

• Pick and Place robot is the one which is used to
  pick up an object and place it in the desired
  location. It can be a cylindrical robot providing
  movement in horizontal, vertical and rotational
  axes, a spherical robot providing two rotational
  and one linear movement, an articulate robot or a
  scara robot (fixed robots with 3 vertical axes
  rotary arms).

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Pick N Place Robot
Parts of a Pick N Place Robot

• A Rover It is the main body of the robot
  consisting of several rigid bodies like a
  cylinder or a sphere, joints and links. It is
  also known as a manipulator.
• End Effector It is the body connected to the
  last joint of the rover which is used for the
  purpose of gripping or handling objects. It can
  be an analogy to the arm of a human being.

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Pick N Place Robot
Parts of a Pick N Place Robot

• Actuators They are the drivers of the robot. It
  actually actuates the robot. It can be any motor
  like servo motor, stepper motor or pneumatic or
  hydraulic cylinders.
• Sensors They are used to sense the internal as
  well as the external state to make sure the robot
  functions smoothly as a whole. Sensors involve
  touch sensors, IR sensor etc.
• Controller It is used to control the actuators
  based on the sensor feedback and thus control the
  motion of each and every joint and eventually the
  movement of the end effector.

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Pick N Place Robot
Working of a Basic Pick N Place Robot

• The basic function of a pick and place robot is
  done by its joints. Joints are analogous to human
  joints and are used to join the two consecutive
  rigid bodies in the robot. They can be rotary
  joint or linear joint.
• To add a joint to any link of a robot, we need to
  know about the degrees of freedom and degrees of
  movement for that body part. Degrees of freedom
  implement the linear and rotational movement of
  the body and Degrees of movement imply the number
  of axis the body can move.

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Pick N Place Robot
Working of a Basic Pick N Place Robot
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Pick N Place Robot
Working of a Basic Pick N Place Robot

• A simple pick and place robot consists of two
  rigid bodies on a moving base, connected together
  with rotary joint. A rotary joint is a one which
  provides rotation in 360 degrees around any one
  of the axes.

• The bottom or the base is attached with wheels
  which provide linear movement.
• The 1st rigid body is fixed and supports the
  second rigid body to which the end effector is
  provided.
• The 2nd rigid body is provided with movement in
  all 3 axes and has 3 degrees of freedom. It is
  connected to the 1st body with a rotational joint.

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Pick N Place Robot
Working of a Basic Pick N Place Robot

• The end effector should accommodate all 6 degrees
  of freedom, in order to reach all sides of the
  component, to take up position to any height.

On a whole, the basic pick and place robot works
as follows

• The wheels underneath the base help to move the
  robot to the desired location.
• The rigid body supporting the end effector bends
  or straightens up to reach the position where the
  object is placed.
• The end effector picks up the object with a
  strong grip and places it at the desired
  position.

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Pick N Place Robot
How Pick N Place Robot Actually Controlled

• A simple pick and place robot can be controlled
  by controlling the movement of its end effector.
• The motion can be using hydraulic motion, i.e.
  using hydraulic fluid under pressure to the drive
  the robot, or using pneumatic motion, i.e. using
  pressurized air to cause mechanical motion.
• The most effective way is using motors to provide
  the required motion.
• The motors have to be controlled in order to
  provide required motion to the robot and the end
  effector.

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Pick N Place Robot
Working Example of Controlling a Pick N Place
Robot

• How about controlling the robot with a just a few
  buttons on the keypad.
• Yes, it is possible! Just pressing the required
  button.
• We can transmit command to the robot to make it
  move in any direction to achieve our task.
• This can be achieved using simple wireless
  communication.

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Pick N Place Robot
Working Example of Controlling a Pick N Place
Robot
Lets see how this actually works

• The transmitter part consists of the keypad
  interfaced to the microcontroller.
• Any button number in decimal format is converted
  to 4 digit binary by the microcontroller and the
  parallel output at one of its port is applied to
  the encoder.
• The encoder converts this parallel data to serial
  data and this is fed to the transmitter, fitted
  with an antenna to transmit the serial data.

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Pick N Place Robot
Block Diagram Showing Transmitter of a Pick N
Place Robot
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Pick N Place Robot
Working Example of Controlling a Pick N Place
Robot

• The receiver side consists of a decoder
  interfaced to the microcontroller.
• The decoder converts the received command in
  serial format to the parallel form and gives this
  data to the microcontroller.
• Based on this command the microcontroller sends
  the appropriate input signals to the motor
  drivers to drive the respective motors.

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Pick N Place Robot
Block Diagram Showing Receiver of a Pick N Place
Robot
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Pick N Place Robot
Working Example of Controlling a Pick N Place
Robot

• The system consists of two motors for providing
  motion to the whole robot.
• Two other motors to provide the arm motion.
• The end effector or the gripper needs to be
  controlled to apply proper pressure on the
  object.
• To give it a soft grip by controlling the arm
  motors through proper command.
• The output from the arm motors is connected to a
  10Ohms/2W resistor.

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Pick N Place Robot
Working Example of Controlling a Pick N Place
Robot

• At the time of motor over load or locked
  condition, a high voltage is developed across the
  resistor.
• It causes a logic high level at the output of the
  Opto-isolator.
• The interrupt pin of the microcontroller
  connected to the Opto-isolator output through a
  PNP transistor gets logic low signal.
• It halts all other operations of the gripper.

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Pick N Place Robot
Advantages

• They are faster and can get the work done in
  seconds compared to their human counterparts.
• They are flexible and have the appropriate
  design.
• They are accurate.
• They increase the safety of the working
  environment and actually never get tired.

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Pick N Place Robot
Disadvantages
1. Expense The initial investment to integrated
automated robotics into your business is
significant. Regular maintenance needs can have a
financial toll as well. 2. ROI Incorporating
industrial robots does not guarantee results.
Without planning, companies can have difficulty
achieving their goals. 3. Expertise Employees
will require training program and interact with
the new robotic equipment. This normally takes
time and financial output. 4. 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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Pick N Place Robot
Practical Applications of Pick and Place Robot

• Defense Applications It can be used for
  surveillance and also to pick up harmful objects
  like bombs and diffuse them safely.
• Industrial Applications Pick and Place Robots
  are used in manufacturing, to pick up the
  required parts and place it in correct position
  to complete the machinery fixture. It can be also
  used to place objects on the conveyer belt as
  well as pick up defective products from the
  conveyer belt.
• Medical Applications These robots can be used in
  various surgical operations like in joint
  replacement operations, orthopaedic and internal
  surgery operations. It performs the operations
  with more precision and accuracy.

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