C O Mput P L I E Journal Of Applied Computational
of Applienaluromputati&CJournal ofathematal MiondApplied & Computational MathematicsISSN: 2168-9679Manjula and Karamagi, J Appl Computat Math 2018, 7:3DOI: 10.4172/2168-9679.1000408csJoResearch ArticleOpen AccessAutomatic Pick and Place Robot Manipulation Using a MicrocontrollerManjula VS* and Karamagi RIDepartment of Computer Science and Information Systems Engineering, St. Joseph College of Engineering and Technology, Dar es Salaam, TanzaniaAbstractRobots are versatile instruments of technology that work to make the life of human beings easy. The perceptivevisualizations of a task being done are theorized and modeled into real-time algorithmic executions. Pick and placesystems are highly advantageous due to their consistency, accuracy, precision, repeatability, reliability, resolutionand efficiency. A robot arm is fixed to a base and operates in its workspace to achieve the migration towards its picklocation. It opens its gripper upon arrival to grasp the object and move with it to the depot location. Upon arrivalat the destination it opens its claws to release the object. The microcontroller sets the servo motors to rotate atcalibrated angles that place the arm at the desired position in space and time to commit to the task. The dawn oftodays research across the horizon of computing shall bring rise to the apocalypse that shall abominate all barriersof robotic development.Keywords: Microcontroller; PCB; Transformer; ResistorIntroductionAutomation is defined as a technology that is concerned with theuse of mechanical, electronic, and computer-based systems in theoperation and control of production [1]. This technology includestransfer lines, mechanized assembly machines, feedback controlsystems, and robots [2,3]. There are three broad classes of industrialautomation: fixed automation, programmable automation, and flexibleautomation [4].linear or rotational. Linear joints involve a sliding or translationalmotion of the connecting links Figure1. This motion can be achievedin a number of ways (e.g., by a piston, a telescoping mechanism, andrelative motion along a linear track or rail).Laws of RoboticsIsaac Asimov conceived the robots as humanoids, devoid offeelings, and used them in a number of stories. His robots were welldesigned, fail-safe machines, whose brains were programmed byThe aim of this paper is to design a Robotic System capable ofpicking objects from a pre-defined location and placing them at a targetdestination [5]. The system is based on embedding a C program ontothe PIC16F877A microcontroller using mikroC PRO for PIC [6,7]. Therobot controller is made from a printed circuitboard (PCB) designedusing Autodesk Eagle and the robot arm is modelled using AutodeskInventor [8,9].Robot anatomyThe vast majority of today’s commercially available robots possessone of the four basic configurations: [1,2] Polar configuration Cylindrical configuration Cartesian coordinate configuration Jointed-arm configuration Compliance Assembly/Articulated Robot Arm (SCARA)Robot Motions.Robot motionThe robots movement can be divided into two general categories:arm and body motions, and wrist motions. The individual joint motionsassociated with these two categories are sometimes referred to by theterm “degrees of freedom”, and a typical industrial robot is equippedwith 4 to 6 degrees of freedom.The robot motions are accomplished by means of powered joints.Connecting the various manipulator joints together are rigid membersthat are called links. The joints used in the design of industrial robotstypically involve a relative motion of the adjoining links that is eitherJ Appl Computat Math, an open access journalISSN: 2168-9679Figure 1: The five basic robot anatomies: (a) Polar (b) Cylindrical (c)Cartesian, (d) Jointed-arm (e) SCARA.*Corresponding author: Manjula VS, Department of Computer Science andInformation Systems Engineering, St. Joseph College of Engineering andTechnology, Dar es Salaam, Tanzania, Tel: 255 689 304 186; E-mail:manjusunil.vs@gmail.comReceived June 01, 2018; Accepted June 09, 2018; Published June 18, 2018Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place RobotManipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:10.4172/2168-9679.1000408Copyright: 2018 Manjula VS, et al. This is an open-access article distributedunder the terms of the Creative Commons Attribution License, which permitsunrestricted use, distribution, and reproduction in any medium, provided theoriginal author and source are credited.Volume 7 Issue 3 1000408
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:10.4172/2168-9679.1000408Page 2 of 8human beings. [3] Anticipating the dangers and havoc such a devicecould cause, he postulated rules for their ethical conduct. Robots wererequired to perform according to three principles known as “Threelaws of Robotics” which are as valid for real robots as they were forAsimov’s robots and they are: A robot should not injure a human being or, through inaction,allow a human to be harmed. A robot must obey orders given by humans except when thatconflicts with the First Law. A robot must protect its own existence unless that conflictswith the First or Second law.These are very general laws and apply even to other machines andappliances. They are always taken care of in any robot design.Figure 2: A Three DOF – 2D Manipulator.Kinematic ModelForward position kinematicsIn the forward kinematics, if we are given the joint angles, we have tofind out the position of the end effector. In this manner, we construct thedifferent transformation matrices and combine them in the right way,eethe result being bsT , where “ee” denotes end effector and “bs” denotesbase i.e., the pose frame of the robot manipulator. This would be doneby the use of the Denavit-Hartenberg convention. The transformationthat relates the last and first frames in a serial manipulator arm, andthus the solution to the forward kinematics problem is then representedby the compound transformation matrix. The axes are moving; thus,the compound homogeneous transformation matrix is found by premultiplying the individual transformation matrices. [4]eebsT 0N T 10 T12 T23 T.(1)L1,l2 and l3 are the lengths of the arm; θ1,θ2 and θ3 are the twistedangles respectively.eebs Cos θ1 Sinθ1 0 Cos θ 2 Sinθ 2 l1 Cos θ3 Sinθ3 l2 1 0 l3 T 04 T (θ1 ,θ 2 ,θ3 ) sin θ1 cosθ1 0 sin θ 2 cosθ 2 0 sin θ3 cosθ3 0 0 1 0 001 001 001 0 0 1 Cos (θ1 θ 2 θ3 ) Sin (θ1 θ 2 θ3 ) Sin (θ1 θ 2 θ3 )Cos (θ1 θ 2 θ3 ) 00 l1 Cosθ1 l2 cos(θ1 θ 2 ) l3 (θ1 θ 2 θ3 ) l1 sin θ1 l2 sin (θ1 θ 2 ) l3 sin (θ1 θ 2 θ3 ) 1 The inverse kinematics problem is the opposite of the forwardkinematics problem. If we are given the desired position of the endeffectors, we can be able to find out the joint angle. This would be doneby two types of solutions. They are: Closed form (or) Analytical solution Cos θ1 Sinθ1 0 T 1 (θ1 ) sin θ1 cosθ1 0 001 (2) Numerical solution. Cos θ3 Sinθ3 l2 T θ()33 sin θ3 cosθ3 0 001 (3)This corresponds to a rotation by an angle θ2 and translation by adistance l1 i.e., the length of the first link.The pose of the third link, relative to the second link is given byFigure 2: Cos θ3 Sinθ3 l2 (4)T θ()33 sin θ3 cosθ3 0 001 The pose of the end effector, relative to the third link is given by: 1 0 l3 T4 0 1 0 0 0 1 (5)The solution to the forward kinematics problem is a 3 3 matrixgiven by,J Appl Computat Math, an open access journalISSN: 2168-9679(7)Inverse position kinematicsThe pose of the first link, relative to the reference frame is given by:(6)The closed form (or) analytical solution is a set of equation thatfully describe the connection between the end effector position andjoint angles. The numerical solution is found through the use ofnumerical algorithms.Mechanical DesignMulti-functional steering bracketIt is a common type of bracket that is suitable for South Korea'sHS322, HS422, Tower Pro MG995, MG996, SG5010, Hitec, Parallax,Futaba and other brands of (about 40 20 36 mm) standard servo.It is made from a 2 mm hard punch forming aluminium alloy materialthat has high strength, light quality and surface sandblasting oxidationtreatment (Figure 3). It reserves a variety of M3 and M4 mountingholes, with other structures capable of being connected by flexibleinstallation method.U-shaped bracketThe bracket suits standard servos of the size of about 40 20 36 mm and is compatible with all commercially available conventionalservos (MG995, SG5010, Hitec's HS322, HS422, Parallax, Futaba etc.)The bracket surfacing is done by sandblasting oxidation and its size is56 25 64.5 mm. It is composed from a 2 mm hard aluminium plateVolume 7 Issue 3 1000408
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:10.4172/2168-9679.1000408Page 3 of 8with high hardness, light weight and very high precision technology. Itsnet weight is about 21 grams (Figure 4).Long U-shaped beamThe beam has a sandblasting oxidation surfacing, size of 90 29 42 and weighs about 50 grams (Figure 5).Mechanical clawThe robotic claw is efficient for all gripping needs. It is made fromaluminium and is heavy-duty. The claw opens to about 2 inches anddepending on the servo motor used, it can pick up some relativelyheavy objects. Because the fingers move parallel to each other, a bettergrip is achieved Figure 6. There is a mounting plate on the bottomwhich accepts the standard spacing found on servo mounts. The servomounting holes are 34 mm apart.Metal rudder plateIt is made from a Computer Numeric Control (CNC) Aluminiumfor an adjustable type servo arm. It consists of M3 tapped mountingholes with spacing of 14 mm Figure 7. The servo disc diameter is20 mm. The pinking aperture and quantity are 5.5 mm and 25 mm,respectively. It is suitable for (40 20 36 mm) standard servos andis easy to repair.MG996R servo motorFigure 3: Multi-functional Steering Bracket.The TowerPro MG996R servo motor is a high-torque digital servowith metal gearing, shock-proofing and an accurate Printed CircuitBoard (PCB) and Integrated Circuit (IC) control system. The servo canrotate approximately 120 degrees (60 in each direction). Servo code,hardware or libraries may be used to control the motor. Its weight isabout 55 grams with dimensions of approximately 40.7 19.7 42.9mm. It has a stall torque of 9.4 kgf·cm (4.8 V) and 11 kgf·cm (6 V)with an operating speed of 0.17 s/60 (4.8 V) and 0.14 s/60º (6 V). Theoperating voltage is 4.8 V to 7.2 V with a running current of 500 mAto 900 mA (6V) and stall current of 2.5 A (6V) (Figure 8). The deadbandwidth is 5μs. It is stable and has a double ball bearing design. Thetemperature range is from 0 C to 55 C.Electrical and Electronic DesignMicrocontrollerFigure 4: U-shaped Bracket.The PIC16F877A is one of the PIC Micro families of microcontrollerswhich is currently popular among professionals and hobbyists alike.This is because the PIC16F877A is easily programmed and with theFLASH memory technology allows up to a thousand re-writes [5]. Thesuperiority of this microcontroller compared with others within itspeer group show that the PIC has the speed and flexibility for manyuses, from automotive industries and controlling home appliances toindustrial instruments, remote sensors, electrical door locks and safetydevices. It is also ideal for smart cards as well as for battery supplieddevices because of its low consumption. Low cost, low consumption,easy handling and flexibility make the PIC16F877A applicable evenFigure 5: Long U-shaped Beam.Figure 7: Metal Rudder Plate.Figure 6: Mechanical Claw or Gripper.J Appl Computat Math, an open access journalISSN: 2168-9679Figure 8: TowerPro MG996R Servo Motor.Volume 7 Issue 3 1000408
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:10.4172/2168-9679.1000408Page 4 of 8in areas where microcontrollers had not previously been considered(example: timer functions, interface replacement in larger systems,coprocessor applications, etc.) [6]. In system programmability of thischip (along with using only two pins in data transfer) makes possiblethe flexibility of a product, after assembling and testing have beencompleted (Figure 9). This capability can be used to create assemblyline production, to store calibration data available only after finaltesting, or it can be used to improve programs on finished products.Features of the PIC Microchip microprocessors are that they areeasily programmed, have built in EEPROM, and an abundance ofdevelopment tools. The PIC16F877A microprocessor has 8K of flashprogram memory, 256K of EEPROM, and 3 timers, making it anexcellent choice for this research [5].OscillatorThe quartz crystal unit is one of the most remarkable electronicdevices developed by man. Today, the low cost for the frequencyprecision that is derived from it is unparalleled by any other device.Recently, however, it is beginning to get some competition from MEMS(Microelectromechanical Systems) resonators. Quartz is a compound/mineral comprised of silicon and oxygen (SiO2) as shown in Figure 10.Silicon (27.7%) and Oxygen (46.6%) are two of the most abundantelements on earth. Quartz is all around us in large quantities (about10% to 14% of the Earth’s crust is SiO2) and is easily seen. In 1880, thebrothers Jacques and Pierre Curie discovered the direct piezoelectriceffect on quartz. They were able to measure a charge on the surfaceof natural quartz whose magnitude was proportional to the pressureapplied on it. In 1881, the French physicist Gabriel Lippmann predictedthe converse piezoelectric effect (a crystal is strained when a voltage isapplied to it) using the principle of conservation of electricity. Laterthat same year, it was verified by the Curie brothers [7]. The HC-49S isa 2-pin piezoelectric crystal oscillator with size dimensions of 11 5 11mm. It is used to generate clock pulses, by resonance, required for thesynchronization of all the internal operations in the microcontroller(Figure 11). The frequency is 8 Mhz and frequency tolerance is 20parts per million (ppm). The load capacitance is 20 pF and effectiveresistance is 30 Ω.TransformerTransformers are used either to increase or to decrease ac voltage.Transformers are made by using two separate sets of wire windings,which are wound on a metal core and are called the primary and thesecondary windings. A transformer that increase voltage is calleda step-up transformer and one that decrease voltage is called a stepdown transformer. Transformers do not operate with dc voltageapplied, since dc voltage does not change in value. Notice in Figure 12that ac voltage is applied to the primary winding of the transformer.There is no connection of the primary and secondary windings. Thetransfer of energy from the primary to the secondary winding is dueto magnetic coupling or mutual inductance. The transformer relies onelectromagnetism to operate. The primary and secondary windings oftransformers are wound around a laminated iron core. The iron coreis used to transfer the magnetic energy from the primary winding tothe secondary winding. The operation of a transformer relies on theexpanding and collapsing of the magnetic field around the primarywinding. When current flows through a conductor, a magnetic fieldis developed around the conductor. When ac voltage is applied tothe primary winding, it causes a constantly changing magnetic fieldaround the primary winding. During times of increasing ac voltage,the magnetic field around the primary winding expands. After thepeak value of the ac cycle is reached, the voltage decreases toward zero.When the ac voltage decreases, the magnetic field around the primarywinding collapses. The collapsing magnetic field is transferred to thesecondary winding [8].The transformer used steps down 230 volts to6volts with a current limit of 2A at a frequency ranging from 50 to 60Hertz.Figure 9: PIC16F877A microcontroller.Figure 11: HS-49S Crystal Oscillator (8 MHz).Figure 10: Atomic lattice of silicone dioxide, quartz. The structure as awhole has no center of symmetry. The absence of a center of symmetry isa necessary condition for the piezoelectric effect.J Appl Computat Math, an open access journalISSN: 2168-9679Figure 12: 7805(left) and 78c06(right) voltage regulators.Volume 7 Issue 3 1000408
Citation: Manjula VS, Karamagi RI (2018) Automatic Pick and Place Robot Manipulation Using a Microcontroller. J Appl Computat Math 7: 408. doi:10.4172/2168-9679.1000408Page 5 of 8Voltage regulatorsA voltage regulator converts a varying input voltage into a constant‘regulated’ output voltage. Thus, a voltage regulator supplies a constantvoltage at the output regardless of the magnitude of load currentsupplied. Integrated Circuit (IC) voltage regulators are relativelycheap as compared to regulators designed using op-amps. IC voltageregulators are available in a variety of output voltages. The LM78xxseries of voltage regulators are designed for positive voltage input. Thereare negative voltage regulators that are marked LM79xx. These are fixedoutput voltage regulators. The other types of voltage regulators areadjustable output voltage regulators, switching regulators, and specialtypes of regulators. In switching regulators, a switch is turned on andoff at a rate so as to supply a periodic pulse of current to the load; theaverage of these pulses being equal to the requirement. All other typesof regulators are called linear voltage regulators. With proper heat sink,the LM78xx ICs can handle output current even somewhat more than1000 mA. Linear voltage regulators are manufactured by companieslike Fair Child and ST Microelectronics [9].The xx in LM78xx indicatesthe fixed output voltage it is designed to provide. LM7805 provides 5Vregulated output voltage while LM7806 provides 6V. LM7905 givesan output voltage of -5V. Capacitors of suitable values are connected atthe input and output pins depending upon the respective voltage levels.ResistorsThe carbon composition resistor consists of a resistive carboncomposition material with leads embedded in its opposite ends.The whole structure is surrounded by an insulating paint coatingand moulded into a cylinder. The resistance material is a mixture ofpowdered carbon and insulation. Carbon composition resistors (CCR)are fixed form resistors. They are made out of fine carbon particlesmixed with a binder (for example clay). After baking, they exhibit asolid form. They are used to reduce current flow, adjust signal levels, todivide voltages, bias active elements etc.Capacitors are used to store an electric charge. An electrolyticcapacitor is a type of capacitor that uses an electrolyte to achieve alarger capacitance than other capacitor types. An electrolyte is a liquidor gel containing a high concentration of ions (Figure 13).A ceramic capacitor uses a ceramic material as the dielectric.The two most common types are multi-layer ceramic capacitors andceramic disc capacitors. Ceramic capacitors are usually made with verysmall capacitance values, typically between 1 nF and 1 µF, althoughvalues up to 100 µF are possible.A pn-junction diode is formed when a p-type semiconductor isfused to an n-type semiconductor creating a potential barrier voltageacross the diode junction. The most common function of a diode isto allow an electric current to pass in one direction (called the diode'sforward direction), while blocking it in the opposite direction (thereverse direction).A Light Emitting Diode (LED) is an optical semiconductor devicethat emits light when a voltage is applied. When the Light EmittingDiode (LED
The robots movement can be divided into two general categories: arm and body motions, and wrist motions. The individual joint motions associated with these two categories are sometimes referred to by the term “degrees of freedom”, and a typical ind
Aerodynamics -CFD Connection to Academic Research VCC Ph.D. projects R&D and Vehicle projects Universities Method dev. projects Co mput atio nal Fl uid Dyna mics Grou p,96 630 Fundamental fluid mechanics & CFD research CFD research work for future automotive applications Development of comput
Keywords: Frenet frames; Involute-evolute curves; Hyperbolic space; De Sitter space. Mathematics Subject Classification (2010). 53A25, 53C50. Introduction The idea of a string involute is due to, who is also known for his . geometry for Frenet frame in hyperbolic 2-space, hyperbolic 3-space and de Sitter 3-space [3-8].
e.g., the cycle and the complete graphs of odd orders are not very cost effective. Definition (1.5) If G 1 and G 2 are vertex-disjoint graphs. Then the join, G 1 VG 2, of G 1 and G 2 is a super graph of G 1 G 2, in which each vertex of G 1 is adjacent to every vertex of G 2. The vertex set V(G 1 V G 2 ) V 1 V 2, [5]. The Join Graph of Very .
manufacturers in the automotive industry. The ‘Xtra’ range of products are also more resistant to humidity and thermal cycling (rapid changes in heating and cooling) than the standard range. The following graph shows the effects of humidity (168 hours, 25 C, 90% RH) and thermal cycling (25 cycles between -25 C and 65 C) on HTC and HTCX. The results show that the rheology of HTC changes .
The eginner [s Guide to PEA 3 Introduction Over the last two decades aid agencies and academics have been on a journey of lesson learning and adaptation in relation to politics.
Chemistry at Upper Secondary level draws upon and builds on the knowledge, understanding, skills and values developed in the Lower Secondary Science units, 9.5 Atoms and the Periodic Table, and 10.3 Chemical Reactions. Upper Secondary Chemistry Lower Secondary Science Strands Lower Secondary Science Units Grade 11 units Grade 12 units 1 The Nature of Science 3 Matter and Energy 4 Earth and .
6 THE FACTORIES ACT, 1948 ACT NO. 63 OF 19481 [23rd September, 1948.] An Act to consolidate and amend the law regulating labour in factories. WHEREAS it is expedient to consolidate and amend the law regulating labour in factories; It is hereby enacted as follows:— CHAPTER I
inter alia, the investigation conducted by and through Plaintiff’s attorneys, which included, among other things, a review of the Defendants’ public documents, conference calls , and announcements . Case 1:21-cv-20885-CMA Document 1 Entered on FLSD Docket 03/05/2021 Page 10 of 86. 11 Dr. Hsiao’s background in pharmaceutical chemistry .
