Beruflich Dokumente
Kultur Dokumente
A PROJECT REPORT
ON
DESIGN OF PICK AND PLACE ROBOT
PREPARED BY: - GUIDED BY:-
Patel Boni S (82204) Mr. Mahesh K. Chudasama
Lad Satish P (82208)
Clind M.B (82210)
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GOVERNMENT ENGINEERING COLLEGE, SURAT
MECHANICAL ENGINEERING DEPARTMENT
CERTIFICATE
This is to certify that following candidates of B.E IV, Mechanical
Engineering, Semester-VII, have satisfactorily completed the preliminary
project report on DESIGN OF PICK & PLACE ROBOT during the term
ending in Nov-Dec 2010.
PREPARED BY:
PATEL BONI S (82204)
LAD SATISH P (82208)
CLIND MB (82210)
GUIDED BY HEAD OF DEPARTMENT
_______________ __________________________
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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
an end effector 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 robot.
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INDEX
CHAPTER 1 INTRODUCTION 6
1.1 History of Robots 6
1.2 Law of Robotics.. 8
1.3 What is & What is not a Robot............................................................................... 8
1.4 Components of Robots 9
CHAPTER 2 CLASSIFICATION OF ROBOTS.... 11
2.1 Types of robots as per Application. 11
2.2 Types of Robots by Locomotion & Kinematics. 12
CHAPTER 3 SELECTION OF TASK. 13
3.1 Tasks 13
3.2 Selection of Tasks 15
3.3 Why Pick & Place Robots....................................................................................... 15
3.4 Defining work station... 15
CHAPTER 4 DESIGN PROCEDURE 16
4.1 Factors to be considered while designing. 16
CHAPTER 5 STEPS OF DESIGNING.. 22
5.1 Selection of Product.. 22
5.2 Designing of Work space.. 22
5.3 Degree of Freedom 24
CHAPTER 6 WORKS TO BE DONE. 25
6.1 Selection of Parts... 25
6.2 Completion of Model. 25
6.3 Programming. 25
6.4 Interfacing with computer. 26
REFERENCE. 27
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LIST OF FIGURES & TABLES
FIGURES
1.1 KEY COMPONENTS OF ROBOTS.
1.2 ACTUATORS.
1.3 SENSORS.
2.1 INDUSTRIAL ROBOT.
2.2 AGRICULTURAL ROBOT.
2.3 TELE-ROBOT.
3.1 PICK & PLACE ROBOT.
3.2 FLEXIBLE PACKAGING.
3.3 CARTOONIG PROCESS.
3.4 ROTARY CARTOONING.
3.5 PALLETIZING & DEPALLETIZING.
3.6 PICK AND PLACE ROBOT.
3.7 SEALING ROBOTS.
3.8 BAG OPENING ROBOTS.
4.1 GRAPHICAL INTERFACE OF MATLAB WORKSPACE.
5.1 WORK SPACE LAYOUT.
5.2 DEGREE OF FREEDOM.
6.1 INTERFACING OF ROBOT WITH COMPUTER,
TABLES
1.1 HISTORY OF ROBOTS.
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CHAPTER 1
INTRODUCTION
Robotics is the branch of engineering science & Technology related to robots, 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 robot 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 robots capable of performing a variety of manufacturing functions in
a flexible environment and at lower costs. The use of Industrial Robots characterizes some
of contemporary trends in automation of the manufacturing process. However, present day
industrial robots 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 robot is a microcontroller based mechatronic system that detects
the object, picks that object from source location and places at desired location. For detection
of object, infrared sensors are used which detect presence of object as the transmitter to
receiver path for infrared sensor is interrupted by placed object.
1.1 HISTORY OF ROBOTS
Robot is a word that is both a coinage by an individual person and a borrowing. It has
been in English since 1923 when the Czech writer Karel Capek's play R.U.R. was translated
into English and presented in London and New York. R.U.R., published in 1921, is an
abbreviation of Rossum's Universal Robots, robot itself comes from Czech robota, "servitude,
forced labor," from rab, "slave." The Slavic root behind robota is orb-, from the Indo-
European root orbh, referring to separation from one's group or passing out of one sphere
of ownership into another. Czech robota is also similar to another German derivative of this
root, namely Arbeit, "work. Arbeit may be descended from a word that meant "slave labor,"
and later generalized to just "labor."
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The various developments in the field of Robotics with the progress in scientific technology
have been revealed as follows:
Date Significance Robot Name Inventor
First
century
A.D. and
earlier
Descriptions of more than 100 machines
and automata, including a fire engine, a
wind organ, a coin-operated machine, and
a steam-powered engine, in Pneumatica
and Automata by Heron of Alexandria
Ctesibius, Philo of
Byzantium, Heron
of Alexandria, and
others
1206
Created early humanoid automata,
programmable automaton band
Robot band,
hand-washing
automaton
, automated
moving peacocks
Al-Jazari
1495 Designs for a humanoid robot Mechanical knight Leonardo da Vinci
1738
Mechanical duck that was able to eat, flap
its wings, and excrete
Digesting Duck
Jacques de
Vaucanson
1898
Nikola Tesla demonstrates first radio-
controlled vessel.
Teleautomation Nikola Tesla
1921
First fictional automatons called "robots"
appear in the play R.U.R.
Rossum's
Universal Robots
Karel Capek
1930s
Humanoid robot exhibited at the 1939 and
1940 World's Fairs
Elektra
Westinghouse
Electric Corporation
1948
Simple robots exhibiting biological
behaviors
Elsie and Elmer
William Grey
Walter
1956
First commercial robot, from the
Unimation company founded by George
Devol and Joseph Engelberger, based on
Devol's patents
Unimate George Devol
1961 First installed industrial robot. Unimate George Devol
1963 First palletizing robot Palletizer Fuji Yusoki Kogyo
1973
First industrial robot with six
electromechanically driven axes
Famulus
KUKA Robot
Group
1975
Programmable universal manipulation
arm, a Unimation product
PUMA Victor Scheinman
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TABLE 1.1 HISTORY OF ROBOTS
1.2 LAW OF ROBOTICS
Isaac Asimov conceived the robots as humanoids, devoid of feelings, and used them
in a number of stories. His robots were well-designed, fail-safe machines, whose brains
were programmed by human beings. Anticipating the dangers and havoc such a device
could cause, he postulated rules for their ethical conduct. Robots were required to perform
according to three principles known as Three laws of Robotics which are as valid for real
robots as they were for Asimovs robots and they are:
1. A robot should not injure a human being or, through inaction, allow a human to be
harmed.
2. A robot must obey orders given by humans except when that conflicts with the First
Law.
3. A robot must protect its own existence unless that conflicts with the First or Second
law.
These are very general laws and apply even to other machines and appliances. They are
always taken care of in any robot design.
1.3 WHAT IS AND WHAT IS NOT A ROBOT?
Automation as a technology is concerned with the use of mechanical, electrical,
electronic and computer-based control systems to replace human beings with machines,
not only for physical work but also for the intelligent information processing. Industrial
automation, which started in the eighteenth century as fixed automation has transformed
into flexible and programmable automation in the last 15 or 20 years. Computer numerically
controlled machine tools, transfer and assembly lines are some examples in this category.
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FIG 1.1 KEY COMPONENTS OF A ROBOT.
Common people are easily influenced by science fiction and thus imagine a robot as a
humanoid that can walk, see, hear, speak, and do the desired work. But the scientific
interpretation of science fiction scenario propounds a robot as an automatic machine that is
able to interact with and modify the environment in which it operates. Therefore, it is
essential to define what constitutes a robot. Different definitions from diverse sources are
available for a robot.
1.4 COMPONENTS OF ROBOT:-
1. STRUCTURE
The structure of a robot is usually mostly mechanical and can be called a kinematic
chain. The chain is formed of links, actuators, and joints which can allow one or more
degrees of freedom. Most contemporary robots use open serial chains in which each link
connects the one before to the one after it. These robots are called serial robots and often
resemble the human arm. Robots used as manipulators have an end effector mounted on the
last link. This end effector can be anything from a welding device to a mechanical hand used
to manipulate the environment.
2. POWER SOURCE
At present mostly (lead-acid) batteries are used, but potential power sources could be:
Pneumatic (compressed gases)
Hydraulics (compressed liquids)
Flywheel energy storage
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