HAWASSA UNIVERSITY

INSTITUTE OF TECHNOLOGY

Project Title: mobile pick and place robot

Student’s Name ID SECTION
ADDISHIWOT JEMSSL………..TECH/0128/10………………..1
ASCHALEW DENEKE…………TECH/0226/10………………..1
BEFIKADU TSEGAYE…………..TECH/0272/10………………1
ADINEW ADDISE……………………..TECH/0136/10…………1
BETEL NIGUSEI………………………….TECH/0329…………1
DEREJE TESSEMA……………………TTECH/10129/10……...2
YALEMSEW ANEMENE……….TECH/1777/10………………..1
BROOK ESHETU……………………………TECH/455/10…….1
Department: Electromechanical engineering
January, 2022
Hawassa
Submitted to: Mr. Manikandan
Contents
Abstract......................................................................................................................................4

Acknowledgments......................................................................................................................5

CHAPTER ONE....................................................................................................................6

INTRODUCTON...................................................................................................................6

Background................................................................................................................................6

Quality and the need for the mobile pick and place robot.........................................................7

Statement of the problem...........................................................................................................8

Objective....................................................................................................................................8

Scope..........................................................................................................................................8

Limitation...................................................................................................................................9

Significance................................................................................................................................9

CHAPTER TWO.................................................................................................................11

LITERATURE REVIEW.....................................................................................................11

Conclusion on literature review...............................................................................................12

CHAPTER THREE..............................................................................................................13

METHODOLOGY...............................................................................................................13

3.2 Working principle..............................................................................................................14

3.3.............................................................................................................................................17

CHAPTER FOUR................................................................................................................18

MECHANICAL DESIGN...................................................................................................18

4.1 part description...................................................................................................................18

3.2 Mechanical Design Parameters..........................................................................................21

3.3 Kinematic analysis.............................................................................................................23

CHAPTER FIVE..................................................................................................................26

ELECTRICAL DESIGN......................................................................................................26

2
5.1 Electrical components........................................................................................................26

5.2 circuit diagram...................................................................................................................32

CHAPTER SIX....................................................................................................................33

RESULT AND DISCUSSION............................................................................................33

5.1 Finally fabricated mobile pick and place robot..................................................................33

5.2 Discussion..........................................................................................................................34

CHAPTER SEVEN..............................................................................................................35

SUMMARY, CONCLUSION, RECOMMENDATIONS AND FUTURE RESEARCH

WORKS...............................................................................................................................35

7.1 Conclusion..........................................................................................................................35

7.2 Recommendations..............................................................................................................35

7.3 Future research works........................................................................................................35

REFERENCES.........................................................................................................................36

Appendix..................................................................................................................................37

3
Abstract
The primary goal of this research and development project is to develop mobile pick and
place robot for material handling systems. This automatic mobile pick and place robot
integrates object detection with the pick and place process whereby the detection of an object
would power the object gripper. After the object picked, the vehicle moves to the destined
place before the gripper performs the placing task. With the objective of creating a user
friendly and affordable system, the developed model high significantly demonstrates the use
of technology in material handling systems. There are many different types of pick and place
systems. Examples include portable material handling systems, industrial manipulators .This
pick and place robotic arm with wheel scan be easily moved from one place to another. A
pick and place robot manipulator can be used to pick an object and place them in an orderly
manner to get a final destination. A pick and place requires little operator and provides
maximum output with efficiency. It is widely used in different industry to pick a different
material and place in desired location.

4
Acknowledgments
Fist we would like to thank God for everything he did for us through in our entire life. It was
not an easy journey building this prototype specially in this semester being one of the busiest
semesters of all time. We would like to thank everyone who helped and advised for this
project especially Mr. Biruk who helped us by giving materials. And special thanks to Mr.
Manikanadan and Sintayehu whose gave this chance to implement the knowledge that we
didn’t know we had. Our teacher gives us the motivation and the guidance to do this project
We want to thank our beloved families for providing the money that we need for this project
and also always for being there for us all the time. It will be unforgettable experience which
will be within us for the rest of our life. We have faced many challenges during working this
project but we have become more creative than we used to be from internship experience and
also from this project that we were able to come through every time some error happened.

5
 CHAPTER ONE
INTRODUCTON
In this time, the world people needed additional help systems. With the rapid increase in the
flow of information, people are now guided to search for different markets and people have
entered the competition to manufacture quality products cheaply. Automation systems are
also needed to realize this. Because standardized automation systems are required to
minimize errors as well as to have experienced and well-trained employees for quality
products. Because of their physical characteristics, people needed to use auxiliary machines
in places where their strength was not enough. These machines, which are operated with the
need for human assistance in advance, have been made to operate spontaneously without the
need of human power with the progress of technology. One of the most used components of
automation systems is robots. Robotic systems; Mechatronics Engineering, Mechanical
Engineering, Electrical Engineering and Computer Engineering have all come together to
work together.

Background
The history of industrial automation is characterized by periods of rapid change in popular
methods. Either as a cause or, perhaps an effect, such periods of change in automation
techniques seem closely tied to world economics. Use of the industrial robot, which became
identifiable as a unique device in the 1960s, along with computer-aided design (CAD)
systems and computer-aided manufacturing (CAM) systems, characterizes the latest trends in

6
the automation of the manufacturing process. These technologies are leading industrial
automation through another transition. [2]

International Organization for Standardization (ISO) in ISO 8373 defines robot as an

automatically controlled, reprogrammable, multipurpose, manipulator programmable in three
or more axes, which may either be fixed in place or mobile for use in industrial automation
applications. Derived from the Czechoslovakian term robota or robotnik referring to slave,
servant or compulsory lab or, the actual robot word was only derived in the 20th century
despite long existing concept of robotics since the ancient times. In general, the word robot
describes a machine that performs work to assist people and work in place of a living
agent .Robots consist of five major component parts the computer which acts as the brain, the
effectors which are the arms and legs of the robot, actuators that activate physical action,
sensors that receive information about its surrounding environment and mechanical fixtures
which form the overall robot hard ware. Pick and place robot are the most popular material
handling systems; providing dependable solutions for production lines primarily. Pick and
place robots possess the ability to perform tedious, repetitive tasks with ease ,speed allowing
for faster cycle times and accuracy in comparison to human counter parts. The consistent
output long with its quality and repeatability are unmatched. Programmed to carry out actions
without variation and a high degree of accuracy, the robot's actions are typically determined
by programmed routines that specify direction, acceleration, velocity and distance of a series
of co-ordinate motions. In the industrial manufacturing sector, pick and place robots have
been used in a variety of material handling applications ranging from palletizing and De-
palletizing, case picking, bin picking, kitting, machine loading and unloading, parts feeding
and parts delivery. Such robots with improvements have also been used in storage retrieval
systems and case packing and sorting.

Quality and the need for the mobile pick and place robot
Various applications of this mobile pick and place robot would be in the medical industry
where by the pick and place robot can be used as material handling apparatus during
complicated surgery processes as well as in the space travel sector where by the pick and
place robot is used as a work transfer device transferring machinery in planets for instance
satellites. A typical pick and place robot configuration acts as an interface between the

7
 conveyor (or) and the machines, loads and unloads the parts from the machines as well as
transfers the parts from one machine to the next.

Robotic arm is a type of mechanical arm, usually programmable, with similar functions to a
human arm. The robotic arm consists of base plate and gripper. The motion to the robotic arm
is given by dc motors. There are total four 12V DC geared motors, two on back wheels, one
at arm which has 4 degrees of rotation and one motor at the gripper. The motors were
selected based on the torque required for working of the arm. The light weight gripper is used
for picking the object and placing it at the desired location. The robotic arm motions are
controlled by Arduino. The arm picks and sorts the object according to its barcode.

Statement of the problem

Every day people face problem with moving heavy loads and performing repeated tasks, etc.
Usually the transfer process of the heavy materials is being carried out, using man power and
if the picking and placing is repeated for a period of time, it can cause injuries to the operator.
By using the particular robot the operator, will no longer have to bent and lift up heavy loads
thus preventing injuries and increasing the efficiency of the work. Operator will make
mistakes whether small or big in a while. In the industrial world, the industry cannot afford to
take any kind of mistakes. As every mistake is costly whether intern s of time, money and
material
Objective
1.4.1 General objective
 To develop mobile pick and place robot
1.4.2 Specific objective
 To pick products or unit loads from certain place and to place it at destined place by using
mobile robotic arm
 To finish task without any human effort
 To reduce crowed working condition
 To speed up the task performance
 To reduce material and time wastes

8
 Scope
In the present project, our robot starts moving with IR sensor and color recognition sensor
module attached to it for detecting the objects in place. On detection of object, the object is
picked and placed from one location to another location by following the line. To address the
problem statement, the sizing procedure must take into consideration a large number of
variables which can be grouped into two main categories:

Product characteristics: depending on the production in terms of the number of products that
have to be picked in a given time together with the consideration of how these products are
distributed on the conveyor belt, i.e., in a constant flow or haphazardly. The size of the
product as well as the distance between them also affects the result.

Robot characteristics: the robot type affects the cycle time or time required to do a pick-and-
place task. Characteristics such as the type of gripper influence how many parts are picked at
the same time. The motion control law used to define the dynamics and the trajectory
planning optimization algorithm to pick and to place different parts has also to be taken into
consideration.

Limitation
 Needs line in order to go to the destined place
 Because of its simplicity, the metal sheet we used to develop our current project will not
sustain if it is subjected to heavy load.
 The object to be picked is available merely on the fixed place.
 Increased unemployment
 High starting cost
Significance
 It is accurate: Robots are outfitted with wide reaches and slim arms, steady repeatability and
precise tooling all of which allows them to be extremely accurate. This high precision
capability makes them a good match for pick and place applications.
 Flexible: One of the main advantages of robotics is flexibility. Pick and place robots are
easily programmable. They are able to accommodate multiple changes in product shape and
type. In addition, robots provide a high level of movement flexibility.

9
 Increase Consistency: Pick and place robot systems have the ability to improve product
quality and cycle time. Robotic movements are regulated, so the results are always the same.
Quality is improved because of this regularity. Furthermore, this consistency allows the
processes to take place.
 Are Space-Efficient: Because they are designed with compact bases, pick and place robots
are ideal if you are looking to conserve floor space. Robots can be programmed to move
within strict work envelope limits – leading to even better use of space.
 Maximize Safety: Pick and place applications can be physically demanding. They are labor-
intensive, repetitive, and monotonous. Depending on the weight and size of a part, moving it
from one place to another can be very demanding work. Pick and place robots are unaffected
by the stresses of the application. They are able to work without taking breaks or making
mistakes.
 Save material and time: Incorporating pick and place robots can effectively cut your costs
because their precision and reliability allow for less wasted material and more efficient use of
time. Plus, the initial investment in robots is quickly recouped – making pick and place robots
an extremely cost-effective solution.
 Cost-Effectiveness: The afore-mentioned features combine to lend a high degree of cost
effectiveness to such systems. Cost effectiveness also accrues from the fact that pick and
place systems empower businesses to take up orders in bulk and thus aid business expansion
and also reap the benefits of large-scale production.

10
 CHAPTER TWO
LITERATURE REVIEW
2.1 Introduction
A robot is a reprogrammable multifunction machine responsible to move parts, materials,
tools or specialized devices through variable programmed motion for the performance of
different tasks.
Robots have their historical past though they came into existences only in 1961 when
Unimation Inc, USA introduced the first servo- controlled industrial robots. Early
development dating back to 500B.C shows that the Egyptians, Indians, the Chinese, and the
Romans built many automatics puppets which imitate the movement of animals and birds.
The Chinese built many amusing devices that depicted sequential motions. Also, the early
men discovered many mechanisms and exhibited their innovation skill in building ships and
introduced looms to weave. This ushered in the industrial revolution. In the 1940s, remote
teleported master- slave manipulators were developed. Later, force feedback and kinesthetic
sensory elements were added to them to facilitate better control. Tele-operated devices were
used in mars exploration in 1976. In 1948, the transition was invented at Bell laboratories
U.S.A. In 1952, IBM‟s first commercial computer IBM 701 was introduced. Then became
11
numerically controlled tools in which various slides of machines were displaced by numerical
commands through suitable hardware. The development of NC (numerically controlled)
machine tools has, therefore, been a turning point in the development of robotics. The planet
corporation in 1959 introduced a pick and place robot. In 1961, the first industrial robot was
commercialized by Unimation Inc. Microprocessor technology was brought by INTEL in
1961. The real robot development process continued between 1968 and 1982 when various
models of robots were developed by leading robot scientists in different universities, national
laboratories and different industrial houses in the USA, Japan, France, UK, and other
European countries. Some of the robot models of historical interest are the Versatran by
AMF, developed in (1963) and Cincinnati Milacron introduced in (1974), Irb-6 by ASLA in
(1978). The Kawasaki and Hitachi groups in Japan have also contributed a lot in developing
various sensors to make robots „think‟ intelligently. Various robot institutions propagate the
ideas and ideologies of robotics to the profession. Some of the pioneering institutions are the
Japan industrial Robot Association (JIRA, 1971), Robot Institute of America (RIA, 1975),
British Robot Association (BRA, 1977) and Robotics Interaction / SME, to mention a few [1]
[2][3].
To perform the variety of tasks it needs the necessary combination of actuator, manipulator
and controller of the robot. The robot end-effecter manipulator needs an appropriate selection
of actuator and controller (control mechanism) to track the desired input effectively [17] [18]
[19] [20] [21] [22].
2.2 Related works on robot control system
Different modeling and designing of controller strategies were presented in various
researches for trajectory tracking of robot manipulator; from these researches which focus on
trajectory tracking of robot manipulator and other related controller of robot has been
reviewed in the following section.
D.R.V.a.P.N.T.Jyoti Ohri [17] presents the comparison of PID and SMC for robotic
Manipulator. The researcher assume that the actuators do not have dynamics of their
own and arbitrary torques can be commanded at the joint of the robot. The result shows that;
the performance of the SMC is better than PID under sine and cosine trajectory. In case of
uncertainty PID controller is tracking error is increased but in case of SMC performance
remains same so SMC is more robust than PID controller. The researcher solves the
chattering phenomenon by saturation function in SMC.
S. M. R. B. a. S. R. . Farzin Piltan [18] this researcher is focuses on design of a chattering
free mathematical Baseline sliding mode control for highly nonlinear dynamic robot
12
manipulator, in presence of uncertainties and external disturbance. Baseline sliding mode is
provided to reduce the drawback of the pure sliding mode controller namely chattering.
Baseline controller was designed to control the sliding surface slope of sliding mode
controller. Since there was an output from the sliding surface slope model, this means that
there would be two inputs in to the baseline controller. Similarly, the output of the controller
resulted from the controller input of the sliding surface slope. Two controllers was cascaded
together to control the sliding surface slope. The first were the PID controller that corrected
the error between the desired joint variable and the measured joint variable; while the second
was only PI controller that corrects the sliding surface error and integral of error. This
controller tracking performance was tested without disturbance in SMC and BSMC for step
input as desired joint variable. Based on the result, SMC has chattering in the presence of
switching mode function but BSMC has no chattering.
For comparing purpose the researcher used step trajectory response with 10% and 20%
disturbance relative to input signal amplitude. As results BSMC performance were better than
SMC and BSMC can eliminate the chattering in the presence of 10% disturbance. The two
controllers have oscillation in the presence of 20% disturbance uncertainty but BSMC is
more stable and more robust than SMC. Torque performance in the presence of 10%
disturbance for first three links industrial robot gives significant chattering elimination for
BSMC when compared to SMC. This elimination of chattering phenomenon is very
significant in presence of 20% disturbance
S. a. B. Jolly Shah [19] this researcher is focuses on design of computed torque control
methodology and it was done for first 10sec and second 120sec and show that the validity of
the method. The Position errors are coming to be less than 1% for almost initial 10 sec but
it’s increasing as time going on. While velocity errors are more for initial 10secs but it's
decreasing and getting almost zero as time increasing. This method shows that error between
derived and predicted position of link 1 and link 2 is almost around zero for first 10sec but as
time increase errors are increasing but still it is under control. So if it’s required to control a 2
DOF robot for few seconds computed torque controller is suitable but for long time duration
it is producing certain errors in performance [19].
M. M. Fateh [20] this method presents a novel approach to control electrically driven robot
manipulators based on voltage control. The voltage-based control is preferred comparing to
torquebased control. This approach is robust in the presence of manipulator uncertainties
because it is free of the manipulator model. The control law is very simple, fast response,
efficient, robust, and can be used for high-speed tracking purposes. The feedback
13
linearization is applied to the electrical equations of the dc motors to cancel the electrical
current terms which transfer all manipulator dynamics to the electrical circuit of motor.

In this method, each joint of the manipulator is driven by electrical actuator in the control
system. The inserted torque on the joint to drive the manipulator is the load torque of motor,
which is considered in a dynamic equation
As an industrial robot transfers objects of different masses, the dynamics of manipulator will
be changed. Therefore, the manipulator may be subject to external disturbances when robot
operates in the workspace.
The control approach has been proposed based on electrical view on the motor circuit of a
manipulator driven by electrical actuator. The motor current has been considered for
compensating all dynamic torques provided by the manipulator. The control approach is
based on feedback linearization to omit the current terms and providing a linear decoupled
system in the form of first integrator. The control law is free of the manipulator model, so the
control approach is robust subject to manipulator uncertainties and external disturbances. The
design is simple using the independent joint strategy and the control algorithm has a fast
response from few calculations. Therefore, the control can be used for high-speed operation,
as well. A smooth trajectory is proposed to reduce the dynamical reactions to manipulator
when starting and stopping under the allowing values of motor inputs. Tracking a specific
trajectory provides satisfactory responses from the case of point-to-point control, as well as in
the case of rejecting disturbances, tracking, set point and high-speed applications. The control
law shows a very small tracking error in comparing to PID control system. The method is
robust, simple, accurate, with less computing as compared with inverse dynamic control
system [21].

M.Cianctietti, A.Arienti, B.M.Follador, B.Mazzalai, P.dario they get inspired by the Octopus
to and make an interesting model in robotics due to its high dexterity, variable stiffness and
very complex behavior. In this experiment they study the key features and patterns of
movement of Octopus arm and this features and patterns and patterns of movement are that is
elongation, shortening, bending and reaching etc. used for guide the movement of actuator.
They conclude that the concept proposed for the mechanism at the base of the robotic arm
inspired to the Octopus muscular hydrostat where successfully implemented on mock-ups
and the corresponding models have been modified and validate.

14
Ravikumar Mourya, Amit Shelke, Saurabh Satpuite, Sushant Kakade, Monoj Botre have
main objective of their project are to design and implement a four DOF pick and place
robotic arm. They conclude that the CAD tools like Creo1.0 and Auto CAD are used to
model the desire manipulator. To determine the end effectors position and orientation,
theoretical analysis of inverse kinematics are carried out. Ansys software is used for FE
Analysis. Prof. S.N.Teli, Akshay Bhalerao, Sagar Ingole, Mahesh Jagadale. This project aims
to design and fabricate the pneumatic arm for pick and place of cylindrical objects. They
conclude that arm is controlled by manually flaw control and direction control valve. Arm
rotation and movement is done by pneumatic cylinder using helical slot mechanism. Total
arm weight is 25 kg. The model is expected to lift at least 10 kg weight. S.Premkumar,
K.Surya Varman, R.Ballamurgan, Experimental aim is to collaborate the gripper mechanism
and vacuum sucker mechanism working in single pick and place robotic arm. These robot can
perform tasks like gripping, sucking, lifting, placing, releasing, in a single robotic arm. It will
reduced the cycle time, Ideal time, cost of operation, space consumption. It is user friendly
and effectively used in glass handling system. S.C.Gutierrez, R.Zotovic, M.D.Navarra,
M.D.Meseguer. Their purpose of work is to manufacture a light weight robot arm with a low
cost budget. They conclude that to avoid negative influence on the total weight of the arm,
the plastic material reinforced with fiber is used and vacuum infusion man process is used for
manufacturing. Local reinforced elements must be included during construction of arm shell.
The mast light gear reducer, harmonic drive types are used but because of lack of alignment
causes disassembly of gear package to avoid these flexible couplings are required. Gabrielle
J.M. Tuithaf, Just L.Harder. Current robots are not safe for interaction with humans,
especially for children therefore safe four DOF robot arm is develop. Firstly, the joint
stiffness of arm is brought to zero then the arm is supplied with pneumatic artificial muscles
and their stiffness can be adjusted by open loop stiffness control. M.Pellicciari, G.Berselli,
F.Leali, A. Verganana. This paper shows the method for reducing the total energy
consumption of pick and placed robotic arm. Firstly, electro mechanical models of both series
and parallel manipulators are derived and then by means of constant time scaling, the energy
optimal trajectories are calculated. It is seen that blowing down an operation as much as
possible is not always beneficial. Energy consumption of given operation as a function of the
task execution time. Future work includes improvement of the motor model, development of
online programming algorithms. Mohd Ashiq Kamaril, Yusuff, Reza Ezucin Samin, Babul
Salam, Kader Ibrahim, paper presents the development of wireless mobile robot arm.
Wireless PS2 controller is used to control the pick and place operation. The development of
15
this robot is based on Arduina Mega Platform. Analysis of speed, distance, load lifted by arm
is done to know its performance. This robot expected to overcome the problem such as
placing or picking object that is away from the user, pick and place hazardous object fast and
easily. H. Hagenah, W. Bohm, T. Breitsprecher, M. Merklein, S. Wartzack. This paper will
show how modern materials as cellular titanium & nano crystalline aluminium can be used to
build advanced light weight robot arms. This paper will cover the definition of the product
specification, the setting of a basic design and the optimization of this by means of topology
optimization. This optimization requires an intelligent modeling to be able to investigate
different initial setting and boundary conditions. Different innovative light weight
construction materials and the corresponding manufacturing technologies are developing and
analyzed. Mohd Aliff, Shujiro Dohta, Tetsuya Akagi, flexible Hui Li the aim of study is to
develop the and light weight actuator and applied into has flexible hose robot arm. In this
paper, the Slavic Master's degree height flexible control and the trajectory control of the robot
arm are proposed. This robot arm has 3DOF i.e. bending, expanding and contracting and will
be applied into has device for human wrist rehabilitation. In this paper the analytical model of
year has flexible hose robot arm is proposed for Slavic Master's degree height control in
trajectory control.

The study of robotic arms involves nonlinear analysis and includes challenges related to the
existence of multiple solutions, singularity points and possible redundancies. There are
several studies found in open literature that consider the kinematic analysis of robotic arms.
For example, Shah et al. [4] carried out a forward kinematic analysis of a five DOF Pravak
robotic arm. Their procedure included calculating the Denavit-Hartenberg (D-H) parameters
[5] and the homogenous transform matrices. However, they did not consider the inverse
kinematics analysis. In another study, Fernini [6] considered a two DOF articulated robotic
arm. He used both SolidWorks and Matlab to check the theory and the robot motion
simulation. Fernini considered both the forward and the inverse kinematics and the expended
energy during motion. Subhashin et al. [7] investigated a SCARA robotic arm. They derived
the forward and inverse kinematic equations and simulated the robotic arm using CAD
software and Matlab.

[8] Design of controlling an anthropomorphic robotic arm by Gourab Sen Gupta,

S.C.Mukhopadhyay and Matthew Finnie In this paper They proposed the design of
controlling an anthropomorphic robotic arm through a LAN or via the Internet. The user can
16
control the robotic arm remotely and access its sensory feedback signals. The camera
mounted on the robot arm takes images and transmits to the control station. The robot arm is
controlled using a master-slave control methodology.

[9] Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle. In this paper
the design of a Remote-Controlled Robotic Vehicle has been completed. A prototype was
built and confirmed functional. This system would make it easier for man to unrivalled the
risk of handling suspicious objects which could be hazardous in its present environment and
workplace. Complex and complicated duties would be achieved faster and more accurately
with this design. The use of Robots is highly recommended for Industries especially for
safety and productivity reasons. In their design work, they included a Robotic arm of five
Degree of Freedom with its base resting directly on top of the vehicle, a body
having four drive wheels coupled to the ends .In the mode of operation of robot ,they
included operation such that when the operator issues a command from the remote
control to the robotic vehicle all necessary tasks will be carried out by sending
signals to the microcontroller. The microcontroller then issues command to the
respective channels that makes up the communication links. The electric motor will
operate as per given command and the direction, speed and motion of the motor is
regulated by the microcontroller.
[10] Design of a Robotic Arm with Gripper & End Effector for Spot Welding. In this paper
propose of This robotic technology makes the spot welding operation more flexible and time
oriented. With the help of pick and place mechanism the material handling has been easily
carried out. The variation in the mechanical structure and the angle of movement can be
changeable. The human hand design forms the basis of this project of developing a robotic
gripper and is the source of inspiration to achieve the sufficient level of dexterity in the
domain of grasping and manipulation if coupled with wrist and arm. To achieve this goal they
intend to incorporate a simple linkage actuation mechanism. An AC motor is used along
with spur gears and a threaded shaft arrangement. The gripper can perform the basic
function of picking, holding and grasping of objects by means of a DC motor and it
forms the mechanism for the spot welding.The Project Aims to Build A Prototype of
robotic arm with gripper & end effectors for spot welding, the various objectives of
the prototype is as follows:-
i) Having a rigid mechanical structure.
ii) Ability to move each parts at define angle.
17
iii) Optimum power consumption.
iv) To pick the material in jaws and join itself by means of spot welding mechanism.

From this paper ,they concluded that this robotic technology makes the spot welding
operation more flexible and time oriented. With the help of pick and Gripper is an
end effectors or tool to grasp any physical thing that may be a human hand or any
place mechanism the material handling has been easily carried out .The variation in the
mechanical structure and the angle of movement can be changeable

[11] Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle by B.O.
Omijeh In this paper, the design of a Remote Controlled Robotic Vehicle has been
completed. A prototype was built and confirmed functional. This system would make it easier
for man to unrivalled the risk of handling suspicious objects which could be hazardous in its
present environment and workplace. Complex and complicated duties would be achieved
faster and more accurately with this design.

The development of robotics technology nowadays is growing very rapidly. Especially in the
industrial revolution era, the robots will be more utilized than ever [12]. Many industries are
switching the role of the human with the robot because it can be programmed to do a
repetitive task without weariness [13]. Consequently, robotics becomes a more important
subject, especially for engineering students. However, in Indonesia, students’ knowledge in
robotics are used mainly for competition with more than 40 universities took a part in
Indonesian robot contest [14]. Moreover, 93% of robotics research papers worldwide are also
focused on robot competition [15]. Only a few papers discuss robot education and robot
teaching. Therefore, there are many open problems that can be explored on how to teach
robotics effectively. Learning robot arm, used in the industrial robot, requires a
comprehensive understanding of kinematics theory [16]. It includes the forward kinematics
and inverse kinematics theory. With many equations, kinematics become a very challenging
subject for an engineering student. The practical implementation of robot arm also requires
the calculation of each movement. Thus, the utilization of simulation for calculating and
visualizing in kinematics can be beneficial for students. This research is focused on robot
education with the help of simulation in Matlab. A 2-Degree-of-Freedom (DoF) Robot Arm
simulation is developed to give students more freedom to determine the robot movement so

18
that the trial and error cycle can be avoided during a lesson. Furthermore, the results of the
simulation can be applied to SCARA robot for practical implementation.

The concept of creating machines that can operate autonomously dates back to classical
times, but research into the functionality and potential uses of robots did not grow
substantially until the 20th century. Throughout history, robotics has been often seen to
mimic human behaviour, and often manage tasks in a similar fashion. Today, robotics is a
rapidly growing field, as technological advances continue; research, design, and building new
robots serve various practical purposes, whether domestically, commercially, or militarily.
Many robots do jobs that are hazardous to people such as defusing bombs, exploring
shipwrecks, and mines. Their findings and suggestions are reviewed here.

Rosenblatt R (1982) ―The Robot Revolution‖ states that there is three levels of the
technologisation of work, Basic Machines (Simple and Engine), Complex Machines
(Electrical, Electronic and Computing), and Sophisticated Machines (Anthropomorphic
Robots). In each case technologisation has brought benefits as well as disaster. However, we
are reaching a point where further technologisation can only exacerbate the global problems
of mass unemployment, climate chaos and depletion of the world’s resources and exceed the
planet’s capacity for recovery.

The project Recursive Modellingin Dynamics of Delta Parallel Robot”.Robotica, 27(2), 199-
207 performs in depth analysis on the kinematics and dynamics of delta robots. The author
StaicuSetal,[2009]. Dadios and Mara villa set.Al,Roth and Schillingetal compares different
methods for solving the inverse kinematics problem to Determine the position, velocity, and
acceleration of each motor based on the position, velocity, and acceleration of the end
effectors.

The project Robotic Revolution with Smart Remote Control For pick And Place Application
robot is specially developed for the industrial application. Which reduces automatic Pick And
place Robotic Arm Vehicle .The human efforts, pick and place robot consist of a robotic arm
and it placed on it. Basically it will work to pick and place the object from one place to
another place .all procedure done with the help of android application. A Bluetooth module
will be connected to the robotic system for communicating between the android phone and

19
robot. This pick and place function is most use full in the industries in abnormal condition
and unusual places where a human being can’t enter, such as in high temperature and narrow
areas. The microcontroller used in it receives the commands from the android phone. The
authors are Balakrishna Annapureddy,G.V.Ramana Reddy,L.Srinivas Reddy.

The research on robotics has been done for implementing this system. The study goes on
mechanical working principle of DC motors referred from K. S. Fu & R.C. Gonzalez &
C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence .The study of working with
DC motors include the selection of a motor based on the requirement about the speed of the
robot movement and weight to be carried and also power consumption. In this robotic system,
the motors used are having high torque and low speed because of it needs to carry some more
weight of pick and place arms with it.

Conclusion
This project is discussed mainly on Design and structural analysis of a robotic arm, which
reduces the man power and might have a good effect on production rate. This change can
motivate the industry and academics such that the business of the firm is increased. The
development in automation can reduce the revenue cost and raise in capability of delivering
the services at low cost scaling. To look at the safety of the workmen, we designed a pick
and place operator i.e. a robotic arm and for the feeding mechanism two pneumatic cylinders
are designed. Earlier we have studied about different feeding mechanisms among those we
have designed a new model i.e. using the pneumatic cylinders pushing the sheet forward
through the cutting blades [1]. In this process the time of feeding is reduced for each sheet.
We have also studied about RCC control for designing the robotic arm[2]. In this the system
integrates manipulator position sensor into the robots control routine. It also gives the robot
its ability to interact with nature. So depending upon these conditions the manipulator makes
it more efficient by providing self-optimisation system. With this self-awareness of the robot
there will be work safety in the environment onsite. Due to this RCC the efficiency of the
manipulator increases. To design these RCC model we need to compare with revolutionary
symmetric structure and circular periodic structure, due to this we can achieve low stiffness
and material will remain same. We have consulted automation companies like Fanuc

20
Automation Solutions, Rexroth Pneumatic cylinders and many other information sources
searching for most reasonable and proper solution.

CHAPTER THREE
METHODOLOGY
In order to complete this project there are several steps or project approaches that have been
executed. Every single step of selection and action that has been done while developing this
project; will be explained through this section. It is important to make sure project that
consists of hardware and software development can be executed successfully. Here, the flow
of the methodology of this project have been designed to be clear and logical, in order to ease
the understanding of what approach that have been taken in completing this type of project.
This work covers material selection, design, programming and fabrication of a basic robotic
arm system. It also covers the implementation of the kinematics of the arm but does not
consider the details of the derivation of the kinematic equations

21
DESIGN CONSIDERATION
Coming up next were put into thought in the structure procedure. Electrical actuators DC
servo are picked rather than pressure driven and pneumatic actuators due to the little power
necessity and its light weight which is reasonable for this plan. Materials utilized for the
creation were privately sourced from accessible materials. The materials which will be
utilized for the structure will be light in weight to decrease the weight focus on the base and
the shoulder. A continuous path controller was chosen (Arduino was used). The torque is
completely adjusted by the inertia of the electric motors.

The following material properties were put into consideration during the material selection
process:
strength,
lightness,
availability and
Ease of cutting.
The material should possess sufficient strength so as to ensure that each link of the arm is
able to bear the load imposed on it by motors, other attached links and the payload. Lightness
of the material minimizes the torque requirement of the robotic actuators, thereby minimizing
cost. The material also had to be readily available and easy to cut because the fabrication of

22
some parts of a robotic arm involved the cutting of intricate shapes. Aluminum plates are
satisfying all the above criteria and were thus selected for the project. It can be easily cut with
readily available hand tools such as a cutting and hand drilling machines. In addition to this,
it offers outstanding strength and stiffness. It is also cheap and readily available. Its lightness
is a key advantage for any demonstrative or educational robotics project, because it
minimizing the torque requirement of the robot actuators.

3.1 Block diagram of the mobile pick and place robot

The block diagram of our project is shown in the figure below. It consists of an Arduino
Mega2650, motors, motor, wheels, arm, gripper, driver (L298N) and power supply. The pick
and place robot uses three motors for arm movement, one servo motor for the gripper jaw
opening and closing. There are two motors for the arm assembly, one for the up and down
motion. Arduino Mega2650 is used. The input signal or controlling signal is given from the
sensors, which is interfaced with the Arduino. When the signal is sent from sensors, it is
decoded in the controller and proper controlling signal is sent to actuators (dc motors or servo
motor) in the system.

Motors
Arduino Motor driver
Sensors (Wheels, arm and
mega 2650 (L298N)
gripper)

Power
supply

Figure: Block diagram of the mobile pick and place robotic arm

23
3.2 Working principle
The Aluminum sheets formed the casing of the robots. The IR sensor provides the input
signal to the Arduino. It processed the input signal and output a digital signal to the motor
driver which output an analog signal to the input signal of the motors. The motor drives the
base wheels to the desired directions. Gears and rubber bands support the gripper in terms of
increasing the torque and friction respectively when gripping and holding the object. The
vehicle is able to move along any type of surfaces irrespective of it is smooth or rough. The
pick and place robot uses four motors for the operation of the wheels, three servo motors for
the operation of pick and place operation. The pick and place arm consists of an arm
assembly with a jaw, which is only able to move in up and down direction. There are two
motors for the arm assembly, one for the up and down motion and other for jaw opening and
closing. For the controlling of motor, motor driver and Arduino Mega are used. All the four
motors are instructed to move in the forward direction by the Arduino program. When the IR
sensor detects the check point, the color recognizing sensor module detects the color of the
objects, the arm performs pick task. When the color recognizing sensor module detects the
color where the color is destined for the place task performance, the vehicle stops and the
placing will be performed.
The design specification for autonomous line follower robot involved use of algorithm as a
design tools.
Algorithm: line tracking, picking and placing
L=leftmost sensor which reads 0;
R=rightmost sensor which reads 0.
If no sensor on left or right is 0 then L or R equals 0;
If all sensors read 1 trace line,
Else,
If L=1 move right
If R=1 move left
If L&R=1 move forward
Move clockwise if line was last seen on right
Move counter clockwise if line was last seen on left
Repeat trace the line till line is found.
Else,
Stop.

24
Flow chart

Start

Move base
Drop object
max

Open
gripper

25
 Move
forward
Move the
wrist down
Turn around

Move
forward Is there
Is there
object is
object is

Stop

stop
Grip the
object

End

3.3 The list of materials

The list of materials we used while developing the prototype for our project:
 Arduino Mega 2560
 L298N Motor Driver
 Servo motors (SG90 micro)
 MG996R SERVO MOTOR
 DC geared motors
 IR Infrared Obstacle Avoidance Sensor Module

26
 TCs230 color sensor module
 Nuts and bolts
 Aluminum sheet metal
 Wheel
 Arduino Mega 2560
 L298N Motor Driver
 Servo motors (SG90 micro)
 MG996R SERVO MOTOR
 DC geared motors
 IR Infrared Obstacle Avoidance Sensor Module
 TCs230 color sensor module
 Nuts and bolts
 Aluminum sheet metal
 Wheel

CHAPTER FOUR
MECHANICAL DESIGN
The most important aspect and backbone of this project is the mechanical design of the
vehicle and robotic arm. A robotic arm has certain design specifications and certain
parameters are to be taken into the consideration. Since, the design is an area related to
thought, many varieties of designs come to the mind at the initial stages of the design.
Everything might not be fruitful, and the trial-and error method cannot be trusted blindly. So,

27
keeping all these things in mind, we have decided to design our project whose dimensions are
loosely based on the dimension the solid work design that our group discussed. The basic
points to be noted and followed for the design are:
Functionality: the vehicle should move forward by following the line to pick and place an
object. Any device that can perform the required motions to pick and place an object required
would have met the requirements of this criterion. The choice of the number of the parts in
this robotic arm is taken by considering cost.
Reliability: the vehicle should be able to consistently follow the line to pick up and place
objects in a smooth manner. i., the motion of the device should be smooth enough to not drop
the objects that are lifted. Therefore, any device that can lift and move an object from one
place to another without losing any grip would meet the criteria. After a detailed study, the
choice of end effector is made. Since this device is used for picking and placing different
types of materials and perform different types of tasks.
Motion range and speed: Like human body the robots are constructed with same joints
between bones, here we have a constrained limit for the movement of axis. In our design
application, every axis has its own capacity of motion. The degree of movement of robot is
calibrated from center base of axis. By this the sped in pick and place operation might vary,
and this is occurred because each axis moves at different speeds. The complete motion of the
operation is recorded in terms of degrees travelled per second.

4.1 part description

1. Vehicle body
This used to hold all parts of the robot and moves from fixed position to specific place based
on the line. The base of the robotics fixed on the front of vehicle with some free movement
using bearing mechanism

28
2. Base link
The base link is used to hold and support the robotic arm structure and fix the whole robotic
structure to the frame. This flat disk circular shaped link has structures that connect to the
vehicle body. This structure is used to create the first degree of freedom.

3. Arm link
This rigid link with shape of letter “A” used to connect base link to the last movable link in
order to reach the desired position.

4. Wrist link
This structure is mainly made for holding the micro servo motor with some length which is
used to control gripper structure. This structure is used to create the second degree of
freedom.
5. Gripper structure
Gripper or end effector is used for holding the object which is to be manipulated. There are
various times of gripper based on the source used they are vacuum grippers, pneumatic

29
grippers, hydraulic grippers and servo electric grippers. The second method of categorizing
the grippers (mechanical) is based on the type of kinematic device used for the actuation of
finger motions. It can be accomplished by anyone of these types: linkage, screw, gear and
rack, rope and pulley, or cam actuation

The end effector which is designed based on commercial gripper dimension. It is used to hold
up the desired object.

To design the mechanical structure or manipulator of our robots we used different links made
from metal sheet with different dimensions to obtain the required degree of freedom and for a
better mobility as well as applicability, since the links were made from metal sheet, making a
design on paper was an essential part of the build. And to do so, we made one which had 2D
representation of the links to make the build process easier and hence.
no Name Quantity length Width Features

30
1 1 30 13 Combination
of different
rectangular
shape

Vehicle body
2 2 18 4 Combination
of
rectangular
and curved
surfaces

3 4 14 4 Combination
of
rectangular
and curved
surfaces

4 1 15 7 Combination
of
rectangular
and curved
surfaces

31
Fig. final design of mobile pick and place robotic arm
3.2 Mechanical Design Parameters
Selecting suitable motor for the application is crucial in the design stage which decision is
made based on torque and the speed of the motor. Force calculation of joint ensures that the
motor chosen can support the weight of the robotic arm and also the load which need to be
carried. Servo motors is recommended when high torque and precise speed desired by the
user. Torque is the tendency of force to rotate an object about an axis. Mathematically,
torque is defined as the cross product of the lever-arm distance and force, which tends to
produce rotation.
i.e. T=F*L Nm
Where, F=force acting on the motor
L=length of the shaft Force, F is given by, F=m*g N [5]
Where, m=mass to be lifted by the motor g=gravitational constant=9.8 m/s
The values used for the torque calculations:
W1=0.019 kg (weight of link 1)
W2= W4=0.050 kg (weight of motor)
W3= 0.020 kg (weight of link 2)
W5= 0.027 kg (weight of gripper)
W6= 50g (weight of load)
L1= 10.2mm (length of link 1)
L2= 8.5mm (length of link 2)
L3= 4.6mm (length of link 3)
Taking the sum of forces in the Y-axis,

32
 ∑Fy = (W6+W5+W4+W3+W2) g−CY=0 (1)
CY= 11.24 N (2)
∑Fy = (W6+W5+W4+W3+W2+W1) g−BY=0 (3)
BY= 11.43 N (4)
∑Mc= - (W3L2) − (L2 + L3)-W6 (L2+L3) − W4 (L2) + Mc=0 (5)
∑Mb= -W6 (L1+L2+L3) − W5 (L1+L2+ L3) − W4 (L1+L2) − W3 (L1+ L2) – W2(L1)
W1( L12) +Mb=0 (6)
Mc= 0.929 Nm=79.40 oz/in (7)
Mb=1.792Nm=134.67 oz/in (8)

Based on the moment calculated, a suitable servo motor was selected, is, which has a torque
of 152.8 oz-in to comply with the torque requirement of the robotic arm. They can turn 60
degrees in 15millionsecond and weight of 55.0 grams each. For the gripper, a micro servo
with 9 grams and 0.12sec/60 degrees is used because not much torque needed to operate the
gripping process due to the light weight of gripper. In the robotic arm, 4 servo motors are
used. Motors served different purposes at each part of the robotic arm:
 Motor 1 for rotational motion.
 Motor 2 for wrist movement.
 Motor 3 for gripping motion.
3.3 Kinematic analysis
A two degree of freedom robot arm is described in the figure below that consists
primarily of two links with the following specifications in OXY coordinates:
𝐿1 = 1 m is the length of the first link.
𝐿2 = 1 m is the length of the second link.
𝑚1 = 1 kg is the mass of the first link.
𝑚2 = 1 kg is the link of the second link.
β1 = the rotation angel of the first link.
β2 = is the rotation angel of the second link.

33
 Link ai αi di
1 L1 0 0
2 L2 0 0

Forward Kinematics
The Forward kinematics of a robotic arm is determined a group of parameters called
Denavit-Hartenberg (DH) parameters which used for deriving the homogenous
transformation matrices between the different frames assigned on the robot arm structure.
The DH parameters for a two degree of freedom robotic arm are defined as follows:
The homogenous transformation matrices for the 2-DOF robotic arm shown in Figure(1) are
derived as follows:The homogenous transformation matrices for the 2-DOF robotic arm
shown in Figure(1) are derived as follows

cos β1 − sinβ1 0 L1 cosβ1

º1T= sin β1 cos β1 0 L1 sinβ1 (1)
0 0 1 0
0 0 0 1

cos β2 − sinβ2 0 L1 cosβ2

º1T= sin β2 cos β2 0 L1 sinβ2 (2)
0 0 1 0
0 0 0 1

34
Using the eq. 1 and 2 , the homogenous transformation matrix º2T can be derived as follows:

cos (β1+ β2) -sin(β1+ β2) 0 L1 cosβ1 + L2 cos (β1+ β2)

º2T= sin (β1+ β2) cos(β1+ β2) 0 L1 cosβ1 + L2 cos (β1+ β2) (3)
0 0 1 0
0 0 0 1

Nx ox ax px
º1T= ny oy ay py (4)
nz oz az pz
0 0 0 1

º2T= ᴿHT

from eq.5, the position coordinates of the manipulator end-effector is

given by:

px = L1 cosβ1 + L2 cos (β1+ β2) (6)

py = L1 cosβ1 + L2 cos (β1+ β2) (7)

pz = 0 we can ignore

and the end-effector’s orientation matrix is defined by the first three rows and three columns
of the transformation matrix in eq. 3.

º1T= ny oy ay py
ny oy ay py
nz oz az pz
0 0 0 1

35
 º1T= Nx ox ax px
nz oz az pz
0 0 0 1

CHAPTER FIVE
ELECTRICAL DESIGN
There are several electronic components employed in the present work. These are
 Arduino Mega 2560
 L298N Motor Driver
 Servo motors (SG90 micro)
 MG996R SERVO MOTOR
 DC geared motors
 IR Infrared Obstacle Avoidance Sensor Module
 TCs230 color sensor module
 Power supply (Nine-volt battery)

36
 5.1 Electrical components
1. Arduino Mega 2560
The Arduino Mega 2560 is a microcontroller board based on the ATmega2560.
It has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog
inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection,
a power jack, an ICSP header, and a reset button. It contains everything needed to support
the microcontroller; simply connect it to a computer with a USB cable or power it with
AC-to-DC adapter or battery to get started. The Mega is compatible with most shields
designed for the Arduino Duemilanove or Diecimila.

Arduino Mega 2560

Source: t.me/vectorfour

2. L298N Motor Driver

L298N is a high voltage, high current motor driver chip. The chip uses 15-pin package. The
main features are: high voltage, maximum operating voltage up to 46V; output current,
instantaneous peak current up to 3A, continuous operating current of 2A; rated power 25W.
Contains two H-bridge high-voltage and high current full-bridge driver can be used to drive
DC motors and stepper motors, relays, coils and other inductive load; using standard logic
level signal control; having two enable control terminal, in allows input signal without being
affected or disable the device has a logic supply input, the internal logic circuit part of the
work at a low voltage; can be an external sense resistor, the amount of change back to the
control circuit. Drive motor using L298N chip, the chip can drive a two-phase stepper motors
or four-phase stepper motor, can drive two DC motors.

37
 L298N Motor Driver
Source: www.http//:electronicshub.com

3. Servo motors (SG90 micro)

Tiny and lightweight with high output power. Servo can rotate approximately 180 degrees
(90 in each direction), and works just like the standard kinds but smaller. You can use any
servo code, hardware or library to control these servos. Good for beginners who want to
make stuff move without building a motor controller with feedback & gear box, especially
since it will fit in small places. It comes with a 3 horns (arms) and hardware.

Servo motors (SG90 micro)

Source: t.me/vectorfour
4. MG996R Servo motor
Servo motors provide precise positioning of a joint through a specific angle. However, their
rotation is restricted between fixed angles of 0 to 180 degree. The servo motor has three pins:
VCC, GND and PWM. The supply voltage is of 5V and the PWM pin is connected to the

38
 microcontroller output pin. The rotation direction of the servo motor is controlled with the
help of PWM pulse generated by the microcontroller. Duty cycle is a metric measured in
percentage as a ratio of the interval of time when the signal was high 107 to the period of
time through which these signals repeat. The interval when the signal exists is exactly the
pulse duration. So, the required angle is obtained by servo from pulse width modulation.
Most commonly servo waits for signal every 20 milliseconds that corresponds to the
frequency of 50 Hz. Pulse duration of 1ms refers to 0oposition, 1.5 ms is 90o i.e. neutral
position and 2ms to 180 degree of rotation respectively.

MG996R Servo motor

Source: t.me/vectorfour
5. DC geared motors
These durable (but affordable!) plastic gearbox motors (also known as 'TT' motors) are an
easy, low-cost way to get your projects moving. This is a TT DC Gearbox Motor with a gear
ratio of 1:48, and it comes with 2 x 200mm wires with breadboard-friendly 0.1" male
connectors. Perfect for plugging into a breadboard or terminal blocks.

You can power these motors with 3V DC up to 6V DC, they'll of course go a little faster at
the higher voltages. We grabbed one motor and found these stats when running it from a
bench-top supply
 At 3V DC we measured 150mA at 120 RPM no-load, and 1.1 Amps when stalled
 At 4.5V DC we measured 155mA at 185 RPM no-load, and 1.2 Amps when stalled
 At 6V DC we measured 160mA at 250 RPM no-load, and 1.5 Amps when stalled
Note that these are very basic motors, and have no built-in encoders, speed control or
positional feedback. Voltage goes in, rotation goes out! There will be variation from motor to
motor, so a separate feedback system is required if you need precision movement.

39
 DC geared motors
Source: t.me/vectorfour
6. IR Infrared Obstacle Avoidance Sensor Module
The sensor module adaptable to ambient light, having a pair of infrared emitting and
receiving tubes, transmitting tubes emit infrared certain frequency, when the direction of an
obstacle is detected (reflection surface), the infrared reflected is received by the reception
tube, After a comparator circuit processing, the green light is on, but the signal output
interface output digital signal (a low-level signal), you can adjust the detection distance knob
potentiometer, the effective distance range of 2 ~ 30cm, the working voltage of 3.3V- 5V.
Detection range of the sensor can be obtained by adjusting potentiometer, with little
interference, easy to assemble, easy to use features, can be widely used in robot obstacle
avoidance, avoidance car, line count, and black and white line tracking and many other
occasions.

1. When the module detects an obstacle in front of the signal, the green indicator lights on the
board level, while the OUT port sustained low signal output, the module detects the distance
2 ~ 30cm, detection angle 35 °, the distance can detect potential is adjusted clockwise
adjustment potentiometer, detects the distance increases; counter clockwise adjustment
potentiometer, reducing detection distance.
2. The sensor active infrared reflection detection, target reflectivity and therefore the shape is
critical detection distance. Where the minimum detection distance black, white, maximum,
small objects away from a small area, a large area from the Grand.
3. The sensor module output port OUT port can be directly connected to the microcontroller
IO can also be directly drive a 5V relay; Connection: VCC-VCC; GND-GND; OUT-IO
4. Comparators LM393, stable;

40
 5. The module can be 3-5V DC power supply. When the power is turned on, the red power
indicator lights;
6. With the screw holes 3mm, easy fixed installation;
7. Board size: 3.2CM * 1.4CM
8. Each module has been shipped threshold comparator voltage adjusted by potentiometer
good, non-special case, do not adjustable potentiometer.

IR Infrared Obstacle Avoidance Sensor Module

Source: t.me/vectorfour
7. TCs230 color sensor module
Employing TCS230 of TAOS as the signal acquisition chip, this module is quite available in
color detection and sorting operations. It is also useful by providing both digital and analog
signal outputs.
 DC 3.3v to 5v
 Fast response time
 Supplied 6mm lens with an IR filters
 Analog and digital outputs =>analog: RGB voltage signal linear output
=>digital: UART half-duplex, SPI slave mode
 It has DIP-like packaging, which facilitates system integration.

41
 TCs230 color sensor module
Source: t.me/vectorfour
8. Power supply (Nine-volt battery)

The nine-volt battery format is commonly available in primary carbon-zinc and alkaline
chemistry, in primary lithium iron disulfide. They can be available in most electronic shop.
But these batteries can be a fire hazard if not stored safely or disposed of with care.

Power supply (Nine-volt battery)

Source: t.me/vectorfour

5.2 circuit diagram

All the pins of color sensor connected to the digital pins of arduino mega the rest is shown
on

42
the diagram.

Circuit diagram design

43
 CHAPTER SIX
RESULT AND DISCUSSION
4.1 Result

Mobile Pick and Place Robot speeds up the process of picking parts up and placing them in
specific place. It make easy to move bulky, large and hazardous product from one place to
another in industries or in other environments. The workings of a line follower robot are
straight forward. The robot has the capability to detect a black line on a lighter surface. The
robot consist an array of IR sensors in order to calculate the reflectance of the surface. The
computer controls the robot by rotating individual step motors connected to each joint. The
robot uses motion sensors to make sure it moves just the right amount. The whole set up is
interfaced with the Arduino Mega board which is the main component in system. Basically
Arduino Mega is capable of producing 5V output so to amplify it we use motor drive L298N.
To control the motion of robotic arm we use DC motors. For controlling the arm servo motor
is used since it has to only hold and place the object precisely. We have used the IR sensors
for determining the objects. The whole programming for the setup is done by using Arduino
integrated development environment software. Program from the computer is uploaded on
Arduino board with the help of USB data cable.

After every one of the forces and limit conditions were connected plots of stress and
deformation were examined and ends were made about the plan. This paper focus on the
design, analysis and calculation of various components that is necessary for pick and place
robot.We have performed various types of static analysis and applied different loading
conditions on the gripper and it if found to be safe. We also learn how to select appropriate
material for the safe design of pick and place robot. Successful analysis was perform on the
gripper assembly of CAD modal using ANSYS WORKBENCH to determine, equivalent
stresses and total deformation results. The objective of the gripper assembly design was to
satisfy these functions while picking and placing of objects or any materials.

6.2 The Main Assembly

44
5.2 Discussion
From the literature review we can simply realize that there are different ways are employed to
control the mobile pick and place robot. Some of the methods employed to control the robot
are, Bluetooth module controlled, remote controlled, android app controlled…etc. here the
robot we developed will be automatically controlled by the IR sensor that is programmed by
Arduino to follow the line where the desired task is performed, and to stop the vehicle at the
check point (the place where pick or place will be performed). We used color sensor module
for the robot to recognize the object to be picked or the place the object will be placed. We
modified the fixed pick and place robot to an autonomous movable robot with a vehicle.
Finally our project is combination of 2dof pick and place robotic arm and line following
vehicle.

Finally working on the assembly had done. The assembly of the robotic arm was successful
with the minimal rework needed. The components used to make the assembly can be easily
found and replaced from local hardware store and no exotic manufacturing processes were

45
used to fabricate all the customized parts. This enables convenient replacement of parts and
components when the contemporary ones are defected. Furthermore, the design data and
output (e.g. part drawings and assembly schematics) allows future improvement by students
of the coming batch. During the process assembly the spinner part with the motor. Problem
was founded when assembly the spinner. Screw and nut was loosen when the motor is
rotating. As the result by using bicycle tyre rubber to solve the problem. The moment
assembly bracket with the spinner. A problem also occur when the bracket leg fix to spinner
hole. The bracket is unstable and unable to stand itself. By using glue to stick the bracket leg
area with the surface of spinner is an idea. Unfortunately, in engineering every component or
parts which is our design must be flexible and rechargeable. Beside that, assembling
between first elbow and second elbow also occur some problem. The second elbow is
shaking because of the servo motor. To overcome the problem, a spring was added to avoid
and reduce the shaking problem.

CHAPTER SEVEN
SUMMARY, CONCLUSION, RECOMMENDATIONS AND
FUTURE RESEARCH WORKS
7.1 Conclusion
After a period of hardworking we have developed Mobile Pick and Place Robotic arm‖ as a
real working system. The final objective is to develop a Robotic Arm which will be able to
lift a sensitive object safely. The arm will employ a closed loop control system using the IR
sensor as the input sensor and the Arduino Mega as the controller and the color recoginition
sensors. We used Arduino integrated development environment (IDE) to write the program
that controls the whole system. The pick and place robots are popular in assembly lines,
where the repetitive tasks are present. The robotic arm used here contains a soft catching
gripper which safely handles the object. Since the assembly line is mostly about fixing
different parts in to the right section of the end product, it is best done by the pick and place
robots which can work round the clock without being tired or bored. In the modern era time
and man power are major constraints for the completion of a task. By the use of our product
the industrial activities and hazardous operations can be done easily and safely in a short span

46
 of time. The proposed system is capable of lifting weights; by introducing high torque
providing motor large weights can be picked.

The first objective of the project was to design a working robotics arm with ability to perform
sense-pick-and-place function. To design a working robotic arm with ability to perform
sense-pick-and-place function. The design of the robotic are was stared from the prototyping
stage. Drawings and assembly schematics were generated as design data to be kept for future
reference if improvements were to be done to enhance the developed device in any possible
way. Therefore, the first and third objectives were achieved. The prototype of the robotic arm
was successfully developed and it was able to sense-pick-and-place function. It was tested to
give a clearer image on its overall reliability. The overall successful rate of the robotic arm to
perform its tasks correctly was 90%. The second objective of the project is to do analysis of
mechanical properties of the design of the robotic arm. Calculations were done for the
required shear stress on the finger gripper connection hole. This procedure was important to
know about shear stress for the gripper. The second objective of the project was therefore
achieved.

7.2 Recommendations
1) The department must have its own work shop that is easily accessible for us.
2) The department must recognize the challenges we face during performing these tasks and
should have managed to solve them.
3) The university should promote our products.
7.3 Future research works

47
48
REFERENCES

1. Ankit Gupta, Mridul Gupta, NeelakshiBajpai, Pooja Gupta, Prashant Singh, “Efficient
Design and Implementation of 4-Degree of Freedom Robotic Arm”, International Journal of
Engineering and Advanced Technology (IJEAT) ISSN: 2249 – 8958, Volume-2, June 2013.
2. B.O. Omijeh, R. Uhunmwangho, M. Ehikhamenle, “Design Analysis of a Remote
Controlled Pick and Place Robotic Vehicle”, International Journal of Engineering Research
and Development, Volume 10, PP.57-68, May 2014.
3. Gilgueng Hwang, “Development of a Human-Robot- Shared Controlled Teletweezing
system”IEEE transactions control system technology, vol. 15, no. 5, september 2007
4. Shah, J., Rattan, S. S., and Nakra, B.C. 2013. EndEffector Position Analysis Using
Forward Kinematics for 5 DOF Pravak Robot Arm. International Journal of Robotics and
Automation 2(3) (Sept. 2013), 112 - 116.
5. Denavit, J. and Hartenberg, R.S. 1955. A Kinematic Notation for Lower-Pair Mechanisms
Based on Matrices. Journal of Applied Mechanics 22 (June 1955), 215 - 221.
6. Fernini B. 2012. Kinematic Modeling and Simulation of a 2-R Robot by Using Solid
Works and Verification by MATLAB/Simulink. International Journal of Robotics and
Automation 1(2) (June 2012), 78 - 93.
7. Subhashini, P.V.S., Raju, N.V.S., and Rao, G. V. 2014. Modeling, simulation and analysis
of a SCARA robot for deburring of circular components. ARPN Journal of Engineering and
Applied Sciences. 9(4) (April 2014), 398 - 404.
8. Pick and Place Robotic Using Arduino Harish K , Megha D , Shuklambari M , Amit K ,
Chaitanya K Jambotkar.
9. Industry Based Automatic Robotic Arm
Dr. Bindu A Thomas, Stafford Michahial, Shreeraksha.P, Vijayashri B Nagvi, Suresh M
10. Er. R.K.Rajput, „Robotics and Industrial Automation‟, S. Chand Publications, 2014.
11. Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle by B.O.
Omijeh
12. M. B. Triyono, Tantangan Revolusi Industri Ke 4 (I4.0) Bagi Pendidikan Vokasi, ISSN,
2541-3058 (2017)
13. F. Shakhatreh, The Basics of Robotics, Lahden Ammattikokeakoulu (2011) (book)

49
14. M. S. Zuhrie, I, Basuki, I. G. P. A. Buditjahjanto, L. Anifah, Design of an Artificial
Intelligence Robot as Teaching Media Based on Contextual Teaching and Learning, JPTK,
23, 260373 (2017)
15. G. Zhang, J. Zhang, The Issue of Robot Education in China’s Basic Education and its
Strategies, IEEE, 8, 978-1-42441676-9 (2008)
16. B. Utomo, Munadi, Analisa Forward dan Invers Kinematics pada Simulator Arm Robot 5
Derajat Kebebasan, JTM S-1, 1, 11-20 (2013)
17. J. a. W. L. Slotine, Applied nonlinear control, Prentice-Hall Inc, 1991.
18. D. R. V. a. P. N. T. Jyoti Ohri, "Comparison of Robustness of PID Control and
SlidingMode Control of Robotic Manipulator," Intelligent Systems & Communication
(ISDMISC) Proceedings published by International Journal of Computer Applications®
(IJCA), pp. 5-9, 2011.
19. S. M. R. B. a. S. R. Farzin Piltan, "Design New Control Methodology of Industrial Robot
Manipulator," nternational Journal of Hybrid Information Technology, vol. 5, pp. 41-49,
October, 2012.
20. S. a. B. Jolly Shah, "Dynamic analysis of two link robot manipulator for control design
using computed torque control," international journal of research in computer applications
and robotics, vol. 3, no. 1, pp. 52-59, January 2015.
21. M. M. Fateh, "On the Voltage-Based Control of Robot Manipulators," International
Journal of Control, Automation, and Sy stems, Vols. 6, no, 5, pp. 702-712, October 2008.
22. B. B. R. I. B. G. V. S. K. Rao, "Modelling and control of 2-dof robotic manipulator using
BLDC motor," International Journal of Science, Engineering and Technology Research
(IJSETR), vol. 3, no. 10, pp. 2760-63, October 2014 .

50
 Appendix
MG996R servo motor specification
 weight : 55 g
 Dimension: 40.7 x 19.7 x 42.5 mm.
 Stall torque: 9.4 kg/cm (4.8V), 11 kg/cm (6V)
 Operating speed: 0.17 s/60O (4.8V), 0.14 s/60O (6V)
 Operating voltage: 4.8V TO 7.2V
 Runing current: 500 mA - 900 mA (6V)
 Stall current : 2.5A (6V)
 Servo plug : JR orange color = PWM
Red color = VCC
Brown color = GND

51