PICK AND PLACE REMOTE CONTROLLED 6WD ROBOT

1. INTRODUCTION

Nowadays, robots are increasingly being integrated into working tasks to replace humans
specially to perform the repetitive task. In general, robotics can be divided into two areas,
industrial and service robotics. International Federation of Robotics (IFR) defines a service robot
as a robot which operates semi- or fully autonomously to perform services useful to the well-
being of humans and equipment, excluding manufacturing operations. These robots are currently
used in many fields of applications including office, military tasks, hospital operations,
dangerous environment and agriculture. Besides, it might be difficult or dangerous for humans to
do some specific tasks like picking up explosive chemicals, defusing bombs or in worst case
scenario to pick and place the bomb somewhere for containment and for repeated pick and place
action in industries. Therefore, a robot can be replaced human to do work.

1.1 WORKING PRINCIPLE OF AND PICK AND 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.

Fig. 1.1 2D Manipulator Arm

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1.2 PICK AND PLACE ROBOT ACTUALLY CONSISTS OF:

 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.
 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.

1.3 CONCEPT OF ROBOTIC MANIPULATOR MOVEMENT

 Robotic arm very closely resembles to human hand.

 Its efficiency and dimensions of working radius can be decided by the degree of
freedom.

 Degree of freedom is very important phenomenon to decide acceptance and credibility

of robotic arm for certain application.

 So the basic idea is to mount this arm on all terrain vehicle in this manner increasing
its application.

 Robotic arm has different parts like Elbow, Gripper, Wrist, Base etc.

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FIG. ROBOTIC MANIPULATOR

1.4 Problems regarding to pick and place robot:

 Mobility: Till date pick and place robotic manipulators were not mounted on mobile
vehicle chassis.

 Navigation: Industrial robots are designed to worked within a limited area . Line
follower robots requires hard reset in case of changed its path.

 Material for Fabrication: To design a Mobile Robot optimum material (i.e. light in
weight and robust) is required.

 Exploration: Robots are thought to be super machine but they have some limitations
like they are not wireless , due to that it is not possible to operate it at each location.

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1.5 LIMITATIONS:

Degree of Freedom: robotic manipulators are constrained by motion due to complexity in

structure.

Complex Design: multitasking robots are complicated in design structure.

1.6 ADVANTAGES OF ROBOTS

 Speed - Pick and place robots allow for faster cycle times.

 Accuracy - Robotic systems are more accurate and consistent than their human
counterparts.

 Production - Work cells create more because they perform applications with more
accuracy, speed and tirelessness. The consistent output of a robotic system along with
quality and repeatability are unmatched

 Reliability - Robots can work 24 hours a day seven days a week without stopping or tiring.

 Flexibility - Pick and place robots can be reprogrammable and tooling can be
interchanged to provide for multiple applications.

 Savings - Managers are realizing the long-term savings with a pick and place robotic
work cell rather than the operation they are currently doing. An increase in output with a
material handling robotic system has saved factories money.

 Affordability - With the advancements in technology, and affordable robotics becoming

available at less cost, more pick and place robotic cells are being installed for automation
applications.

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1.7 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: These 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, orthopedic and internal surgery operations. It performs the operations
with more precision and accuracy.

Other than these applications, these robots can also be used in various other
applications suitable to mankind.

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1.8HOW PICK AND PLACE ROBOT WORKS:

A 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). Joints are analogous to human
joints and are used to join the two consecutive rigid bodies in the robot.

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 effectors bends or straightens up to reach the position
where the object is placed.
 The end effectors pick up the object with a strong grip and place it at the desired position

1.9 TYPES OF JOINTS

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1.10 TYPES OF PICK AND PLACE ROBOT:

 Robotic Arm:
Probably the most common type of pick and place robot is the robotic arm type; which
typically come as 5 axis robots for standard pick and place application in plane, or 6 axis
robots for more complex applications where the products needs twisting from the
horizontal (similar to the image above).

 Cartesian:
The cartesian robot is also a very common type of pick and place robot, that used to be
cheaper, but is now not so commonly installed apart from for injection moulding
machines.

 Delta:
Delta robots are mounted above conveyors and are typically used for high speed pick and
place applications.

 Fast Pick Robot:

Fast pick robots are also another option for fast pick and place applications; with cycle
times as fast as 150 cycles per minute.

 Collaborative:
In recent years a wide range of different types of collaborative robots have hit the market
and these are becoming increasingly used in industrial applications, but they are mostly
smaller, slower robots with less of the complex functionality available. This limits their
usefulness for some applications.

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 Small Robotic Pick and Place System:

Small robotic pick and place systems are usually used where the product is small, and the
distance that the product needs to be moved is short. Some example applications where a
small pick and place system would be appropriate include; packing chocolates into boxes,
transferring small items from a conveyor to a tray or conveyor, placing components into a
circuit board, and orientation of small parts.

1.11 SIX WHEEL DRIVE CHASSIS:

Six-wheel drive (6WD or 6×6) is an all-wheel drive drivetrain configuration of three

axles with at least two wheels on each axle capable of being driven simultaneously by the
vehicle's engine. Unlike four-wheel drive drivetrains, the configuration is largely
confined to heavy-duty off-road and military vehicles, such as all-terrain
vehicles, armored vehicles, and prime movers.

BENIFITS OF SIX WHEEL DRIVE ROBOTIC CHASSIS:

 Better weight distribution

 More Payload capacity
 Extra sets of powerful wheels
 Less bouncy and more comfortable.
 More traction

1.12 MOBILE ROBOTS CAN BE CLASSIFIED BY SIGNIFICANT

PROPERTIES AS:

1. Locomotion (Legged, wheeled, limbless, etc.)

2. Suspension (Rocker-bogie, independent, soft, etc.)
3. Steering (Skid, Ackerman, explicit)
4. Control Algorithm (Fully-Autonomous, semi-autonomous)
5. Body Flexibility (Uni-body, multi-body)
6. Usage Area (Rough Terrain, even surface, etc.)
7. Guidance and Navigation (Star field or Sun detection, GPS, sensor-based)

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1.13 DESIGN CHALLENGES:

1. Minimal weight and size.

2. Reliable long term operation of all critical systems.
3. Ability to survive and operate in abrasive and dusty environment .
4. Safe utility in extreme radiation and thermal conditions.
5. Efficient power utilization and transmission.
6. Ability to maneuver in majority of terrains surfaces.
7. Modular systems that can be utilized across other tasks.

Fig.1.2 Robotic Manupulator Fig. 1.3 6WD Chassis

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2.LITERATURE REVIEW

There are numerous ways for controlling the robots with unique methods and design criteria
exist. Robots are most often controlled using tether (wired), wirelessly or autonomously. Some
of the traditional wireless controlling methods are using mobile phones, joysticks, keypad,
computer terminal, even interfacing with the internet so that they can be controlled anywhere.
The following are some of the widely used controlling methods for the robotic vehicle as well
as the robotic arm.
A microcontroller based system which can be operated by android application. The user’s
friendly interface present on the operator’s mobile phone can be used to control the robotic
vehicle as well as its robotic arm. A Bluetooth module acts an interface between the mobile
phone and robotic vehicle. This sends proper motional commands to the motors interfaced with
the robot according to the signal received. This framework can be employed in chemical
industry for handling of hazardous chemicals like sulfuric acid, nitric acid, sodium cyanide etc
and prevents humans from inhalation, absorption through skin and ingestion. They can also be
used for the movements of heavy objects in any industry.
After studying we got to know that robotic arm can be mounted on a vehicle for
performing extra industrial task too in hazardous condition, thus increasing it's application and
saving many people's life from those hazardous situation, bluetooth module HCOS can be used
to communicate between Android and vehicle, one of the ideas for suspension is Roger bogie
suspension[1]

A robotic arm integrated with microcontroller, LCD, DC motors and RF video camera
controlled by Internet/LAN connection which is mainly used for patient operation. A proper
averaging algorithm is used to reduce the amount of noise coming from the output of the
sensors. The Ethernet adapter configured with particular IP address can receive the data from
the particular computer. The adapter will send the received data to the microcontroller through
serial port. After receiving the data, the microcontroller sends appropriate signals to the DC
geared motors to control the robotic arm. This framework is mainly used to cut the skin of the
patient using the high-speed blades which is nothing but the robotic arm.
Traditional methods of robotics design with legs and with wheels,through this we
understood complexity of legged robot,Our application and objective were not that difficult and
we wanted simple designed robot so opted for wheel drive robot.[2]

The vehicle movement can be controlled based on the detection of motion of hand and
refrains the movement of the vehicle if any obstacle is detected in its path. The user can make
the vehicle to move around in all possible four directions by simply moving his hand in the
desired directions. So that the user doesn’t need to press any buttons. The gesture commands
can be captured by a simple inertial navigation sensor called Accelerometer. This system also
includes ultrasonic sensor which can be helpful to prevent the robotic vehicle colliding with any

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obstacle. The signals from the sensors are forwarded to the microcontroller and encoder circuit.
The encoded signal is transmitter through RF transmitter. RF receiver receives the signal and
decodes it. Finally the microcontroller gives appropriate signals to the motors to change the
movements of the robots. This system can be used in the field of construction, hazardous waste
disposal and field survey near borders.The robotic platform and the robotic arm can be
controlled by two separate accelerometers. One accelerometer is mounted on the human hand
and another one mounted on the leg of the user capturing its gestures and postures and thus the
robotic arm and the platform moves accordingly. The motions performed by the platform are
forward, backward, right & left and the operations performed by the robotic arm are pick &
place/ drop, raising and lowering the objects. The RF Module is used to transmit the different
hand and leg gestures made by the user. The system is also equipped with an IP based camera
which can stream real time video wirelessly to any Internet enabled device such as Mobile
phone, Laptop, Tablet etc. The biggest advantage of this kind of robotic arm is that it can work
in hazardous areas and also in the area which cannot be accessed by the human and also used to
implement highly precise medical treatment.
Different applications that can be accomplished- material handling, pick and place accurately,
easy working in constrain environment, military surveillances, pipe and duct investigation,
maintenance nuclear plant, bomb diffusing in bomb diffusing squad, spraying of water on
pestisides in agricultural field.[3]

The development of robotics technology basically aims to assist humans in performing

a particular job, and it is a very fast evolving research field today. Some specific kinds of robots
that can ease human task are mobile robots, the arm robot (manipulator robot), or a combination
of both. Mobile robots are widely used for faster movement, especially on wheels. Arm robots
are designed to hold, lift and move objects. While combining the two obviously aims to equip the
robots with all the functions. The robotic systems can be controlled manually using a system of
data transmission via cable, or via a wireless connection and several studies on this approach
have been done before. A research in constructs a mobile robot system modeling with Type-2
Fuzzy Logic control strategies based systems. Another in describes the design and control the
robot with two arms and has 7 Degree of Freedom (7 DOF). A study in designed a robot arm
with 4 DOF to perform the act of holding, lifting, placing and releasing objects individually. A
research in designed a mobile robot manipulator which can be controlled through wireless
technology, and another in designed robot with 6 wheels drive containing gas sensors used to
detect dangerous gas leaks. Related to the works above, this research aims to design a robot with
six-wheel-drive (6WD) which includes six degree of freedom (6DOF) robotic arm that can be
controlled through wireless technology.
Six wheel drive to be proper and required for rough terrain, skid steering system for six
wheel robot and some future scope.[4]

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2.1 STATEMENTS:

Definition of Robotics
The term robot was first introduced in English in 1921 by a Czechoslovakian playwright named
Karel Capek in his play titled R.U.R (Rossum's Universal Robots). Robots in the earlier sense
are "forced labour" which means slave labour, but in the modern sense of the word, the robot has
undergone extension of meaning. According to The Robotics International Division of The
Society of Manufacturing Engineers (RI/SME), the robot can be defined as "a reprogrammable
and multifunctional manipulator designed to move material, parts, tools, and specialised
devices through variable programmed motions for the performance of the variety of tasks".
From the above, there are three keywords that show characteristics of a robot, which are:
reprogrammable, multifunctional, and able to move material, parts, or tools (defined task
manipulator). So the definition of robots, especially industrial robots is a multifunctional device
designed to manipulate and transform tools or devices across a track that has been programmed
to complete specific tasks.

TO BE CALLED AS A MODERN ROBOT SYSTEM, A MACHINE COMPRISES AT

LEAST THREE MAIN THINGS:

1) Manipulator: A manipulator is a mechanical unit that performs the functions of the

movement. In the robot, manipulator normally consists of a sleeve (main frame) and wrist. The
function of this manipulator is to allow the robot to reach a certain position with precision.

2) Actuator: Serves as a source of energy to drive manipulator. Actuators on the robot can be
hydraulic systems, pneumatic systems, DC motors, AC motors, stepper motors and various types
of other drivers.

3) Processor: It is the brain of the robot, serves to store and process every sequence of
movements on the robot. Typically, the processor enables the robot to perform a variety of tasks
programmed to it.

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3.PROBLEM DEFINATIONS

Various problems regarding to robots are as mentioned below:

1. Navigation:

The complexity of Navigation systems in some autonomous and Line following robot is
increased when uncertainties are generated in environment due to some reasons such as

a) The presence of obstacles in the defined path

b) Lack of complete knowledge about the environment

c) The unreliability of sensing equipment.

2. Exploration:

Robotic manipulators are restricted to manufacturing floor shop

3. Limitations to 2 or 4 Wheel Drive on terrain surfaces:

a) Four Wheel Drive robotic vehicles disturbs on uneven surfaces.

b) 2 or 4 Wheel based robotic vehicles requires more space to take a turn in 180 degree.

4. Human being safety in dangerous places.

a) It is dangerous to do a surveillance in places like forest , enemy military campaign .

b) It is inconvenient to do work in conditions like snow surface , cleaning solid state garbage at
mountains.

5. Storage capacity with “pick and place robot itself” itself:

Due to no storage capacity mobile robots consumes time to move the objects from one
workstation to another i.e. requires separate rounds between two workstations for each
individual material.

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4.OBJECTIVES
The main purpose of this project is to achieve the advantages of pick and place robots on rough
terrain surfaces using six wheel drive remotely controlled device.

 To add storage capacity to robotic vehicle itself and safely load and unload the material.

 To design a robot having impeccable off road capabilities.

 To design a robot for surveillance purpose.

 To design mobile robot for pick and place application.

 To improve navigation and exploration system for robotic pick & place system.

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5.METHODOLOGY

To combining the features of two different devices to achieve the aim . We use this principle to
make our robotic device. By using Navigation and Exploration of six wheel drive vehicle and
using features of pick and place manipulator we will form a device which will work on terrain
surfaces for cleaning as well as surveillance applications.

Planning of work in order to work out the project would be as follows:

1. For searching problem of society.

2. Title finalization.
3. Literature review: For literature review we will refer net facility, Reference
books, research paper etc.
4. To visit workshop: Garage, service center etc.
5. Design: Split conceptual diagram into parts to be design and parts to
be selected & complete the procedure.
6. Purchase: To purchase the parts required for the project
7. Actual fabrication and testing:

7.1. Fabrication
7.2. Testing

7.3.1 Report writing.

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6.CONCLUSION
Combining the advantages of two different devices gives better output with efficiently work
done.

 The 4 Degree of Freedom (4DOF) has enabled the robotic arm to perform the designed
movements very well. Furthermore, the mobile robot successfully follows the command
from each input variable resistors via the remote control to move the robotic arm.

 The robot mobility and the robotic arm movement can successfully be achieved
simultaneously, which elevates its potentials for deployment.

 Six Wheel Drive is better at terrain surfaces compared to Four or Two Wheel Drive.

 Robotic gripper justifies more operations with ease better than vacuum operation to pick
the objects, hence obtaining better material handling.

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7.REFRENCES
INTERNATIONAL JOURNAL OF ADVANCED RESEARCH IN
COMPUTER SCIENCE
[1]Vidyashree H., Chaithra K.B. , Umesh S., Nagamaurya,B.S. All Terrain robotic vehicle with
robotic arm for dangerous object disposal, Oct.2018, Volume 9 , No.5 .ISSN NO. 0978-5697.

DESIGN OF AN ALL TERRAIN ROBOT

[2]Tanishq Aggrarwal , William L. Abhinav Raghunathan , Gargi S. Traditional method of

robotic design, 22 July 2016 .

TERRABOT- THE ALL TERRAIN ROBOT

[3]Roshan Chavan , Jadhav Chaitnya ,Prajapati Ghanshyam M. ,Kamble Vinod,development of

robotics , Jan 2016, Vol.4, ISSN NO.2321-0613.

NIMBRO EXPLORAR:SEMI-AUTONOUMS EXPLORATION & MOBILE

MANIPULATOR IN ROUGH TERRAIN

[4]Jorge Stucker , Max s. ,Markschadler , angeliki.T.,Exploration & Mobile Manipulator

Movement, June 2014.

INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH AND

DEVELOPMENT

[5]B.O.Omijeh, R.uhunmwangho, M.Ehikhamenle , dc servo motor and actuators study , July

2012, ISSN-2278-067.

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