android based pick and place robot with a soft catching gripper...

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Research Paper

International Journal of Informative & Futuristic Research ISSN (Online): 2347-1697

Volume 2 Issue 4 December 2014

Abstract

The project is designed to develop a pick n place robotic vehicle with a soft catching gripper. For example, it can safely handle a bomb very carefully to avoid explosion while catching. The robotic vehicle is android application controlled for remote operation. At the transmitting end using android application device, commands are sent to the receiver to control the movement of the robot either to move forward, backward and left or right etc. At the receiving end four motors are interfaced to the microcontroller where two for them are used for arm and gripper movement of the robot while the other two are for the body movement. The android application device transmitter acts as a remote control that has the advantage of adequate range, while the receiver end Bluetooth device is fed to the microcontroller to drive DC motors via motor driver IC for necessary work. Remote operation is achieved by any smart-phone/Tablet etc., with Android OS; upon a GUI (Graphical User Interface) based touch screen operation. The main advantage of this robot is its soft catching arm that is designed to avoid extra pressure on the suspected object for safety reasons.

Android Based Pick And Place Robot

Paper ID IJIFR/ V2/ E4/ 011 Page No. 859-867 Subject Area

Electronics and

Telecommunication

Engineering

Key Words Android, Robot, Microcontroller, LCD, DC Motor

Butkar Vinayak D.

B. E. Student,

Department Of Electronics and Telecommunication,

Parvatibai Genba Moze College of Engineering

Wagholi, Pune

Devikar Sandip R

B. E. Student,



Wagholi, Pune

Jaybhaye Vikas B.

B. E. Student,



Wagholi, Pune

Prof. Shilpa Patharwalkar

Professor



Wagholi, Pune

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ISSN (Online): 2347-1697 International Journal of Informative & Futuristic Research (IJIFR)

Volume - 2, Issue - 4, December 2014 16th Edition, Page No: 859-867

Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa Patharwalkar : Android Based Pick And Place Robot

1. Introduction

The Android Mobile Phone Platform by Google becomes more and more popular among software

developers, because of its powerful capabilities and open architecture. As it is based on the java

programming language, its ideal lecture content of specialized computer science courses or applicable

to student projects. We think it is a great platform for a robotic system control, as it provides plenty of

resources and already integrates a lot of sensor. The java language makes the system very attractive to

apply state-of-the-art software engineering techniques.

1.1 Pick And Place Robot

Figure 1.1: Industrial Pick & Place Robot

Robots can be classified into different categories depending on their function and the market needs

they are designed for. Here we identify two major classes of robots, industrial robots and service

robots. According to the Robotic Industries Association, an industrial robot is an automatically

controlled, reprogrammable, multipurpose manipulator programmable in three or more axes which

may be either fixed in place or mobile for use in industrial automation applications. The first

industrial robot, manufactured by Unimate, was installed by General Motors in 1961.

1.2 Discovery Of Android

Android, Inc. was founded in Palo Alto, California, United States in October, 2003 by Andy

Rubin (co-founder of Danger) Rich Miner (co-founder of Wildfire Communications, Inc.) Nick Sears

(once VP at T-Mobile) and Chris White (headed design and interface development at WebTV) to

develop, in Rubin's words "...smarter mobile devices that are more aware of its owner's location and

preferences" Despite the obvious past accomplishments of the founders and early employees, Android

Inc. operated secretly, revealing only that it was working on software for mobile phones.

Google acquired Android Inc. in August 2005, making Android Inc. a wholly owned

subsidiary of Google Inc. Key employees of Android Inc., including Andy Rubin, Rich Miner and

Chris White, stayed at the company after the acquisition. Not much was known about Android Inc. at

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the time of the acquisition, but many assumed that Google was planning to enter the mobile phone

market with this move.

1.3 Why Build Androids?

The most important reason is to help us humans enjoy life and to relieve us of many of the

mundane tasks which we all face every day. Humans have been designing tools and other devices to

be used by other humans for millennia. While you could design and build a robot to do any specific

task better and faster than a human, if you build a robot which has the same we have designed in the

same manner we would. Thus, the androids will be able to take over for us and perform those

mundane tasks for us - but, only if they have our shape and capabilities.

Figure 1.2 : Android Symbol

1.4 Why Pick & Place Robots

We have selected the pick and place robots for this particular process due to the following reasons:-

a. Using of human labor for the loading and unloading of the batteries and also for packing

purpose will consume more time.

b. Even though Number of labourers is required more, the loading and unloading time should

include allowances if labourers are considered.

c. Moreover the work can be done easily using a single pick and place robot, which is used for

both loading and unloading and pelleting purpose.

2 System Requirements:

A. Microcontrollers

For our application we are required to interface the LCD, Bluetooth and motors to the microcontroller.

Also the program memory of upto 128kb is required. Hence here we are going to use the 8 bit

microcontrollers. The available 8 bit microcontrollers are

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Table 2.1 : Microcontroller comparison

A. PIC

16C5X/XX

Clock speed 40MHZ, 512 to 2K bytes ROM, 25 to 73 bytes of RAM, 8-bit

real-time counter, programmable sleep mode and watchdog timer,

B. Motorola

C. 68HC11

0-768B of RAM, clock speed upto 3MHz,8 bit ADC for real time

monitoring ADC signals.

D. INTEl

E. 8051

ROM 0 to 8KB,128 – 256 B of RAM, clock seeds upto 12MHz,32 bit

bidirectional I/O lines

microchip

ATMEGA16

256 bytes of EEPROM,2 Comparators, 8 channels of 10-bit ADC, 2

capture/compare/PWM functions, a synchronous serial port that can be

configured as either 3-wire SPI or 2-wire I2C bus, a USART, and a Parallel

Slave Port. operating voltage 4.0V to 5.5V

Here we are going to use the microcontroller microchip ATMEGA16 it is suitable for our project as

its having the in built ADC and comparators which are necessary in our project.

B. Bluetooth

We are going to use the Bluetooth version 2.0 Module. The models available in the market and their

features are as follows:

Table 2.2 : Bluetooth modules

F. PAN1555 UART (Programmable baud Rate), USB, I2C, SPI and ADC

Bluetooth data rate up to 2178kbps Asymmetric

AUBTM-20 Bluetooth core V2.0 compliant

SPP support, Support UART, USB, PCM, I2C interface to host system,power

supply 3.5V

AUBTM-20 is available in the market and is suitable for our project hence we are going to

use the AUBTM-20 Bluetooth module.

C. LCD MODULE

There are various types of LCD modules available in the market

Table 2.3 : LCD Module

16*2 LCD module(green

backlight)

Standard 2x16 and 4x20 character LCD Displays,

Power supply 5V. compliance with Hitachi HD77840

16*2 LCD module(white

backlight)

Standard 2x16 and 4x20 character LCD Displays,

Power supply 5V. compliance with Hitachi HD77840

We are going to use 8 bit 16*2 LCD Module with green light as it is easily available in the market.

D. MOTORS

For our application we are going to use the DC motors. As they are having the high torque so these

are the choice for the picking application.

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Stepper motors are having slower response than the dc motors so for the faster cycle rate we

are going to use the DC motors. AC motors make the system more bulky hence we are not

concentrating on them.

Table 2.4 : Motors

DC

motor(300

rpm)

300 rpm, DC supply: 4 to 12V

RPM: 300 at 12V and RPM 121 at 5V,

Torque-(1.1806kg/cm at 5V and 2.773kg/cm at 12V) Motor weight: 105gms

3 Robotic Hardware

Functional block diagram of robotic hardware is as shown in fig. this fig two sections are available

one section is controlling the robot and other section performing all interfacing with controller.

Figure 3.1: Functional Block Diagram

Overview Of Block diagram

As the name indicate this project deals with the controlling of robot using cell phone. The

project contain 2 sections

1. Robot (Receiver end)

2. Control section (Transmitting end)

The control section will be an Android cell phone which is having Bluetooth facility. The data to

control the robot will be transmitted through the cell phone Bluetooth

There will be a Bluetooth module at the receiver end also. Both the Bluetooth should be

paired each other. As soon as the data sent from the Bluetooth module at the transmitting end, it will

receive at the receiver end. The microcontrollers compares the incoming data with the pre stored data

and do the corresponding actions.

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4 Circuit Diagram

The circuit diagram of interfacing with various component are as shown in figure

Figure 4.1: Circuit Diagram

4.1 Motor Driver (L298N)

The current supplied by the PIC is not sufficient to drive the motors and thus, we have to use a motor

driver for driving the motors. Here we are using L298N which is a Quadruple Half-H Driver.

The L283N is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V

to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar

stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. All

inputs are TTL compatible.

Specifications:

1. Driver can drive two motors at a time.

2. It outputs a current of 600mA

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There are two inputs and two output pins for each motor. The connection for each is as follows:

Figure 4.2 : L298D Dual DC motor controller

The behavior of motor for various input conditions are as follows:

4.2 Power Supply

The basic step in the designing of any system is to design the power supply required for that

system. The steps involved in the designing of the power supply are as follows,

1) Determine the total current that the system sinks from the supply.

2) Determine the voltage rating required for the different components.

Figure 4.3 : Power supply

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4.3 Algorithm

Step 1. Configure watch dog timer

Step 2. Define micros for program

Step 3. Set or define the input output port

Step 4. Set the baud rate 9600 & transmission pins enable

Step 5. Initialized the LCD & send string or character

Step 6. Read all parameter & compare with reference value

Step 7. Satisfied the condition & then go to display

5 Advantage And Disadvantage

ADVANTAGES:

1. Our robot can handle dangerous chemicals in chemical lab or in nuclear reactor labs which

are hazardous to human body.

2. Having a android control facility this robot can perform many tasks that human cannot or

dangerous for human to handle.

3. With some modifications this robot can be used for helping the physically challenged people.

DISADVANTAGES:

1. The range of the Bluetooth, which is only near about 10 meter.

2. It is only controlled by using Android phone.

6 Result

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7 Future Scope And Conclusion

Future Scope

There are many unsolved problems and fundamental challenges for robotics. At a very high level.

Manipulation and physical interaction with the real world: We need concerted modeling and control

efforts together with the development of good hardware to make arms and hands that can perform

anything but the simplest of pick-and-place operations that are prevalent in industry.

The pick and place robot is having the very vast area of applications.

As we are using android based control the applications broadens to both the domestic and industrial

use.

The future scope applications of this project are,

1. Bomb diffusion:

After few modifications of the pick and place mechanism we can improve the robot for the bomb

diffusion purpose. Using the web cam we can train the robot to diffuse the bomb hence without

putting human life in danger we can fight against the terrorism

2. Lab:

Our robot can handle dangerous chemicals in chemical lab our in nuclear reactor labs which are

hazardous to human body.

3. Having a android control facility and webcam this robot can perform many tasks that human cannot

or dangerous for human to handle.

4. With some modifications this robot can be used for helping the physically challenged people.

Conclusion

In the whole procedure of our project work completion we have successfully build android

based robot with pick and place robot application. For the completion we have used various

application software such as android SDK, Eclipse, PCB WIZARD. The final output of the system is

robot control with the android application.

References

[1] Robotic Enginnering by Richard D Klafter, Thomas A chmielewski, Michael Negin

[2] Atmel AVR Microcontroller Primer: Programming and InterfacingBy:- Steven F.Barret, Daniel J. Pack

[3] C. W. Edwall, C. Y. Ho, and H. J. Pottinger, “Trajectory generation and

control of a robot arm using splines functions,”

[4] RK Mittal and IJ Nagarath “Robotics and Control” BITS Pilani, 2003

[5] RatheeshRajan “Foundation Studies for an Alternate Approach to Motion Planning of Dynamic

Systems” M.S.E., the University of Texas at Austin, 2001

[6] Richard E. Pattis. Karel the Robot: A Gentle Introduction to the Art of Programming. John Wiley &

Sons, 1981. ISBN 0-471-59725-2.

[7] The Math Works Inc. MATLAB 7.0 (R14SP2). The Math Works Inc., 2005.

[8] Nam Sun Wang, Department of Chemical & Bimolecular Engineering, University of Maryland

Websites

1. http://developer.android.com

2. http://android.com

3. http://en.wikipedia.org

4. Shop.evergreengroups.co.in

5. www.nex-robotics.com

6. www.rscomponents.co.in

android based pick and place robot with a soft catching gripper...

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