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Pick and Place Robot

Team members :-

Trivedi Vishal :- VAD2015 B.TECH M2F001
Parthe Dhrumil :- VAD2015 B.TECH M2F004
Jadav Vishal :- VAD2015 B.TECH M2F013
Parmar Hardik :- VAD2015 B.TECH M2F018
Gohil Ghughabhai :- VAD2015 B.TECH M2F019

Guided by :-

Industrial Guide:-

Darshan Patel

Supervisor (Sr. Engineer) Automation Department (FCS).

Rotex Automation Ltd.

Academic Guide:-

Sandip Dhoranwala

Asst. Professor ,

ITM vocational University.

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Outlines of Presentation

Why this project is selected ?
Objectives.
Working Plan.
Working cycle (now).
Desired working system.
Flow diagram.
Major Components.
Circuit diagram.
Programming (Python).
Hardware
Assembly.
Advantages .
References.

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Why this Project ?

To reduce human effort.
To make work Automation from Manual.
To increase Productivity.
To reduce product working time.
To decrease the cycle time (working) of product.
To make continuous work.

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Objectives

General Objective :-
To Pick object from one place and place the object to the another desired place.
Reduce human effort and increase productivity.

Academic Objective :-
We are learning Electronics, Robotics, programming on the base of our project.
Get technical exploser at Industry level Project.

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Week Month	Week 1	Week 2	Week 3	Week 4
January	Basic Research on Design Concept. Required Axis and movements.	Paper work for rough design. Possible movements and Reach.	AutoCAD and solid works design and motor Selection .	Motor calculation (Required Torque) and Design modification.
February	Components purchase (Motor drivers, motors, controller, lcd) and design Animation.	Programming and part manufacturing. Study for vision System.	Basic research on movements and reach. Vision System.	Shaft coupler (design), Bearing . Study for vision system on raspberry pi.
March	Trial on Pi camera for object detection and similarity. Stepper motor trial.	Programming and trial on stepper motors. Part Assembly . Study for Analog to Digital IC for pi.	Final Assembly and movements trial on one by one motor. Programming.	Trial for one by one motor . Programming.
April	Trial on Pick and place . Modification in programming .	Final Programming and final trials. Vision System. (Pick and place complete).	Vision system trials.	Hand over to the Rotex.

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Working (Present)

Present working cycle

Pick Object

Place object

Pick object

Place object

Human 1

Human 2

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Problem :-

Human effort is more.

It consume more time in Pick and Place the object from same place due to laziness of human.

Productivity less.

Human may not Comfortable or can be Injured and product( Object) can be damaged.

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Desired Working System

Working cycle after installing Robot.

Pick Object

Place object

Robot

Place object

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Flow Diagram

Start

Stop

Move Home position to pick up reference.

Pick an Object .

Move to Place reference.

Place an Object .

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Structure

Axis 1

Axis 2

Axis 4

Axis 3

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Video

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Supply & Components

Power supply (SMPS).
Motors :-
Base motor.
Shoulder Motor.
Elbow Motor.
Gripper motor.
Controller (Raspberry pi with data card).
Motor Drivers(Respectively).
Connecting wires.
Switches(Push buttons) .
Assembly tools(Arms, base circle, bottom plate, pillars(supporting pillars).
Gripper Mechanism.
Gears.
Shaft couplers(Respective diameter).
Shafts.
( nut, bolts, washers, etc).

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Power Supply

SMPS :-
24V DC.
5 A.

Raspberry pi :-
5V DC
2 A.

Motor Drivers :-
24 V DC

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Motors

Base and elbow motor :
Planetary geared (Bipolar) Stepper motor.
Rated Torque :- 60 kgcm( 5.89 N.m).
Gear box ratio :- 1:19.
Supply :- 2.8 VDC and 1.68 Amps.

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Shoulder Motor:-
Nema 34 (Bipolar ) Stepper motor.
Rated Torque:- 85 kgcm. (8.34 N.m)
Supply :- 5Amp and 3.78 VDC.
Weight :- 3.8 Kg.

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Gripper Motor:-

Nema 23 Bipolar Stepper motor.
Rated Torque:- 10.2 kgcm. (1 N.m)
Supply :- 3.3 VDC at 2 Amp.
Weight :- 650 grams.

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Motor Driver

RMS – 1102 :-

Input Supply Voltage :- 12VDC to 50 VDC.
Current :- 0.5A to 5A.
Micro Stepping :- 200 to 20000.

Planetary Geared motor and Nema 23.

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RMCS – 1101.
Input Supply Voltage:- 18 VDC to 80VDC.
Current :- 1A to 7A.
Coil current selectable switch :- 3.
Micro Stepping Resolution :- 200 to 20000.

Nema 34 Stepper motor.

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Controller

Raspberry pi 3 b+.
Supply :- 2 Amps , 5 VDC.
1GB RAM (64 bit Broadcom 1.4 GHZ processor).
40 pins (23 GPIO).
HDMI and Camera port.
Separately Display port rather than HDMI.
VNC sever and putty sever both are supported via SSH(Secure Shell).

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Circuit Diagram

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Calculations of the required Torque: �

Weight at Motor 3:

W₃= W(Payload)+ Gripper = (1+0.06)kg*9.81m/s²= 10.4N

Torque of Motor 3:

T₃= W₃*L₃= 10.04*8= 83.2 N.cm= 0.832N.m

T₃=0.832Nm

Weight at Motor 2:

W₂= W₃+Motor 3+ Link 2 = 10.4+(0.650+0.38)*9.81 = 10.4+10.104 = 20.504N

Torque of Motor 2:

T₂= ((W_2Motor3+W₃)*L_2Motor3 )+(W_2Link2*L_2Link2)=251.64+28 = 280N.cm

T₂=2.8 Nm

Weight at Motor 1:

W₁= W₂ + Motor 2 + Link1= 22.075+(3*0.1)*9.81= 22.075+30.411= 52.486N

Torque of Motor 1:

T₁= (9.81*1.713*.45)+(9.81*.363*.30)+(9.81*.650*.20)+(9.81*1*0.1)= 10.8 N.m

T₁=10.8 Nm

Geared reduction of 2:1 is used at Motor 1, so torque acting on the motor is effectively halved. Hence: effective torque acting on motor 1 is 5.4 Nm.

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Program (Python)

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3 motors�Fixed Pulse

import RPi.GPIO as pin

import time

b=0

pin.setmode(pin.BCM)

pin.setup(2, pin.OUT)

pin.setup(3, pin.OUT)

pin.setup(4, pin.OUT)

pin.setwarnings(False)

def rotate():

r1=range(0,2001,1)

for a in r1:

if(a<=500):

pin.output(2,1)

pin.output(3,1)

pin.output(4,1)

time.sleep(0.000001)

pin.output(2,0)

pin.output(3,0)

pin.output(4,0)

time.sleep(0.000001)

print(a)

if(a==500):

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From User Input

import RPi.GPIO as pin

import time

pin.setmode(pin.BCM)

pin.setwarnings(False)

pin.setup(2, pin.out)

pin.setup(3, pin.out)

pin.setup(4, pin.out)

p=int(input("Enter the Number of Pulse :"))

# make sure p/3,p/2 are not float value.

def stepper():

for i in P:

#check condition for each motors whether RUN or STOP

if (i<=p/3):

pin.output(2,1)

time.sleep(0.000001)

pin.output(3,1)

time.sleep(0.000001)

pin.output(4,1)

time.sleep(0.000001)

pin.output(2,0)

pin.output(3,0)

pin.output(4,0)

print (i)

elif (i>p/3 & i<=p/2):

pin.output(3,1)

time.sleep(0.000001)

pin.output(4,1)

time.sleep(0.000001)

pin.output(3,0)

pin.output(4,0)

print(i)

else:

pin.output(4,1)

time.sleep(0.000001)

pin.output(4,0)

print(i)

def rotate() :

stepper()

while(1):

rotate()

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Hardware

Motors :-

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Assembly

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Vision System

Vision System learning.
Self working process with less or no human interface.
Self(with help of Vision) Object detection and selection.
Recognize the position of an Object.
Identify the type of object and place it to the desired position.
VMM and it’s Application.

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Advantages

Reduce the Human Efforts.
Increase the productivity.
Continues Working .
Repeatability and monotonous.
Reprogrammable as per Application.
Tool or Gripper (End Effectors )can be easily Changed for Different types of Applications.
They not get tired.
Never get laziness for same work for long time like human.

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Literature Review

Design and Development of Pick and Place Robotic Arm.
Prof. S.D Rajgure , Aakash D Chougale , Ajit N Bhatkande , Suraj A Bhamare , Swaroop S Chougale.
http://www.iosrjournals.org/iosr-jmce/papers/NCRIME-2018/Volume-2/14.%2074-78.pdf

Pick and Place Robot.
Chirag Joshi , Abhiman Singh Rathore , Giriraj Singh Jhala , Ashwini Singh Hada.
Department of Electronic Instrumentation & ControlEngineering, Global College of Technology, Jaipur.
https://www.scribd.com/document/330860393/Project-Report-on-Pick-and-Place-Robot-By-Chirag-Joshi

Design of Pick and Place Robot Test Rig.
Harshavardhan B P, Salamakalahalli Ramakrishnappa Bharat, Sushanth Kanbail Srinivas Trainee Engineer, Zeco Aircon Ltd, Bangalore.
https://www.ijert.org/research/design-of-pick-and-place-robot-test-rig-IJERTV2IS120625.pdf

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Automatic Pick and Place Robotic Arm Vehicle.
Prof. Vijay Matta , Namita Mendole , Leena Lengule , Nidhi Hatwar , Pragati Manohare , Neha Meshram , Shilpa Nagdeote .
Assistant Professor, Department of Electronics and Telecommunication Engineering, S.B Jain, Nagpur.
https://ijarcce.com/upload/2018/february-18/IJARCCE%2046.pdf

Design & Analysis of Pick and Place Robot.
Yogesh G.Ugale, Gopal R. Ugale, Akash B. Dhote, Sagar S.Dawange, Nikhil G.Vase , Shrutika R.Ghodke, Prof.Pramod S.Wankhede.
Mechanical Engineering, Siddhivinayak Technical Campus School of Engineering & ResearchTechnology, Khamgaon, Maharashtra, India.
http://ijsrset.com/paper/4389.pdf

Design Analysis of a Remote Controlled “Pick and Place” .
B.O.Omijeh and 2R.Uhunmwangho .
Department of Electrical/Electronic Engineering, University of Port Harcourt, Port Harcourt.
https://www.researchgate.net/publication/282576210_Design_Analysis_of_a_Remote_Controlled_Pick_and_Place_Robotic_Vehicle

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THANK YOU