SORTING OF OBJECTS THROUGH PICK AND PLACE ROBOTIC ARM
A PROJECT REPORT
Submitted by GAURANG MARVANIA [Reg No: 11807024] GOURANGA NEOG [Reg No: 11807026] MAHARSHI THAKER [Reg No: 11807100]
Under the guidance of M.R. STALIN JOHN (Assistant Professor(SG), Department of Mechanical Engineering)
In partial fulfilment for the award of the degree Of BACHELOR OF TECHNOLOGY in MECHATRONICS ENGINEERING of FACULTY OF ENGINEERING & TECHNOLOGY
S.R.M. Nagar, Kattankulathur, Kancheepuram District MAY 2011 1
(Under Section 3 of UGC Act,1956)
Certified that this project titled “SORTING OF OBJECTS THROUGH PICK AND PLACE ARRANGEMENT” is the bonafide work of “GAURANG MARVANIA (Reg No. 11807024), GAURANGO NEOG (Reg No. 11807026), MAHARSHI THAKER (Reg No. 11807100)”, who carried out the project work under my supervision. Certified further, that to the best of my knowledge the work reported herein does not form any other project report or dissertation on the basis of which a degree or award was conferred on an earlier occasion on this or any other candidate.
SIGNATURE M.R. STALIN JOHN Guide Assistant Professor(SG) Department of Mechanical Engineering
SIGNATURE Dr. B.K. VINAYAGAM HOD/Mechatronics Professor Department of Mechatronics
It gives me immense pleasure to extend my gratitude to my Head of Department Dr.
B.K. VINAYAGAM for having given me an opportunity to carry out this project and providing with essential facilities.
This project is done under the guidelines of M. R. STALIN JOHN (Assistant Professor(SG) of Mechanical Engineering).He played a role of Engineer, Supervisor and an Educator in the journey of completion of the project. With his time to time association ship, we have derived valuable information, insight and inspiration about successfully completing the project. He has always been very cooperative and kind hearted and have helped us when we faced any problems or difficulty in understanding. We thank him sincerely.
We would also like thank the Faculty Members without whom this project would have been a distant reality. We also extend our heartfelt thanks to our family and well wishers. We owe a great many thanks to a great many people who helped and supported us during our journey towards finishing the project successfully.
The Project deals with an automated material handling system. It synchronizes the movement of robotic arm to pick the objects moving on a conveyor belt. It aims in classifying the coloured objects which are coming on the conveyor by picking and placing the objects in its respective pre-programmed place. Thereby eliminating the monotonous work done by human, achieving accuracy and speed in the work. The project involves colour sensors that senses the object’s colour and sends the signal to the microcontroller. The microcontroller sends signal to eight relay circuit which drives the various motors of the robotic arm to grip the object and place it in the specified location. Based upon the colour detected, the robotic arm moves to the specified location, releases the object and comes back to the original potion.
TABLE OF CONTENTS
CHAPTER NO. BONAFIDE CERTIFICATE ACKNOWLEDGEMENT ABSTRACT 1. INTRODUCTION 1.1 HISTORY 1.1.1 BENEFITS OF CONVEYORS 1.2 LITERATURE SURVEY 2. METHODOLOGY 2.1.1 SENSING CIRCUIT 2.1.2 TRANSFORMER 2.1.3 RECTIFIERS CIRCUIT 2.1.4 RELAYS 2.1.5 DC MOTORS 2.1.6 ROBOTIC ARM AND GRIPPER 2.1.7 CONVEYOR BELT 3. EXPERIMENTAL SETUP 3.1 CONVEYOR BELT 3.1.1 FRAMES 3.1.2 ROLLERS 12 14 14 14 14 6
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3.1.3 SUPPORTS 3.1.4 BELT CONVEYOR 3.1.5 LINE SHAFT CONVEYOR SYSTEMS 3.1.6 CONVEYOR SYSTEM 3.2 ROBOTIC ARM 3.2.1 THE GRABBER ARMS 3.2.2 ROBOTIC ARM 3.1.3 GRIPPER 4. ELECTRONIC CIRCUITS 4.1 ELECTRONIC MODULE 4.2 INTERFACING OF
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