PROJECT TITLE:

Micro controller based robotic arm for pick and place arrangement

INTRODUCTION:
Taking a look back at the history of robot development, a special kind of human-size industrial robotic arm called Programmable Universal Machine for Assembly ( PUMA) came into existence. This type of robot is often termed anthropomorphic because of the similarities between its structure and the human arm.. A robotic arm is a robotic manipulator, usually programmable, with similar functions to a human arm. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement.The links of the manipulator can be considered to form a kinematic chain. The business end of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand. The end effector can be designed to perform any desired task such as welding, gripping, spinning etc., depending on the application. The function of the arm is to position and orient the hand, act as a mechanical connection and power and sensing transmission link between the hand and the main body of the person. For example robot arms in automotive assembly lines perform a variety of tasks such as welding and parts rotation and placement during assembly.

Micro-Controller:

A microcontroller is an entire computer manufactured on a single chip. Microcontrollers are usually dedicated devices embedded within an application e.g. as engine controllers in automobiles and as exposure and focus controllers in cameras. In order to serve these applications, they have a high concentration of on-chip facilities such as serial ports, parallel input/output ports, timers, counters, interrupt control, analog-to-digital converters, random access memory, read only memory, etc. The I/O, memory, and on-chip peripherals of a microcontroller are selected depending on the specifics of the target application. Since microcontrollers are powerful digital processors, the degree of control and programmability they provide significantly enhances the effectiveness of the application. Embedded control applications also distinguish the microcontroller from its relative, the general purpose microprocessor. Embedded systems often require real-time operation and multitasking capabilities. Real-time operation refers to the fact that the embedded controller must be able to receive and process the signals from its environment as they are received. Multitasking is the capability to perform many functions in a simultaneous or quasi-simultaneous manner

TYPES

AND

CLASSIFICATION

OF

ROBOTS:

Industrial robots are available commercially in a wide range of sizes, shapes, and configurations. They are designed and fabricated with different design configurations and a different number of axes or degrees of freedom. These factors of a robot's design influence its working envelope (the volume of working or reaching space). Diagrams of the different robot design configurations are shown in Figure

A. Servo and Nonservo All industrial robots are either servo or nonservo controlled. Servo robots are controlled through the use of sensors that continually monitor the robot's axes and associated components for position and velocity. This feedback is compared to pretaught information which has been programmed and stored in the robot's memory. Nonservo robots do not have the feedback capability, and their axes are controlled through a system of mechanical stops and limit switches.

B. Type of Path Generated.

Industrial robots can be programmed from a distance to perform their required and preprogrammed operations with different types of paths generated through different control techniques. The three different types of paths generated are Point-to-Point Path, Controlled Path, and Continuous Path. a. Point-to-Point Path. Robots programmed and controlled in this manner are programmed to move from one discrete point to another within the robot's working envelope. In the automatic mode of operation, the exact path taken by the robot will vary slightly due to variations in velocity, joint geometries, and point spatial locations. This difference in paths is difficult to predict and therefore can create a potential safety hazard to personnel and equipment.

b. Controlled Path. The path or mode of movement ensures that the end of the robot's arm will follow a predictable (controlled) path and orientation as the robot travels from point to point. The coordinate transformations required for this hardware management are calculated by the robot's control system computer. Observations that result from this type of programming are less likely to present a hazard to personnel and equipment. c. Continuous Path. A robot whose path is controlled by storing a large number or close succession of spatial points in memory during a teaching sequence is a continuous path controlled robot. During this time, and while the robot is being moved, the coordinate points in space of each axis are continually monitored on a fixed time base, e.g., 60 or more times per second, and placed into the control system's computer memory. When the robot is placed in the automatic mode of operation, the program is replayed from memory and a duplicate path is generated. C. Robot Components. Industrial robots have four major components: the mechanical unit, power source, control system, and tooling a. Mechanical Unit. The robot's manipulative arm is the mechanical unit. This mechanical unit is also comprised of a fabricated structural frame with provisions for supporting mechanical linkage and joints, guides, actuators (linear or rotary), control valves, and sensors. The physical dimensions, design, and weight-carrying ability depend on application requirements.design, and weight-carrying ability depend on application requirements.

INDUSTRIAL ROBOTS: MAJOR COMPONENTS

b. Power Sources A. Energy is provided to various robot actuators and their controllers as pneumatic, hydraulic, or electrical power. The robot's drives are usually mechanical combinations powered by these types of energy, and the selection is usually based upon application requirements. For example, pneumatic power (low-pressure air) is used generally for low weight carrying robots. B. Hydraulic power transmission (high-pressure oil) is usually used for medium to high force or weight applications, or where smoother motion control can be achieved than with pneumatics. Consideration should be given to potential hazards of fires from leaks if petroleum-based oils are used. C. Electrically powered robots are the most prevalent in industry. Either AC or DC electrical power is used to supply energy to electromechanical motor-driven actuating mechanisms and their respective control systems. Motion control is much better, and in an emergency an electrically powered robot can

be stopped or powered down more safely and faster than those with either pneumatic or hydraulic power.

D.Control Systems
1. Either auxiliary computers or embedded microprocessors are used for practically all control of industrial robots today. These perform all of the required computational functions as well as interface with and control associated sensors, grippers, tooling, and other associated peripheral equipment. The control system performs the necessary sequencing and memory functions for on-line sensing, branching, and integration of other equipment. Programming of the controllers can be done on-line or at remote off-line control stations with electronic data transfer of programs by cassette, floppy disc, or telephone modem. 2. Self-diagnostic capability for troubleshooting and maintenance greatly reduces robot system downtime. Some robot controllers have sufficient capacity, in terms of computational ability, memory capacity, and input-output capability to serve also as system controllers and handle many other machines and processes. Programming of robot controllers and systems has not been standardized by the robotics industry; therefore, the manufacturers use their own proprietary programming languages which require special training of personnel.

APPLICATIONS OF ROBOTIC ARM IN INDUSTRIES

Welding Applications y Arc Welding y Electron Beam y Flux Cored Welding y Mig Welding y Plasma Cutting y Plasma Welding Material Handling Applications y Dispensing y Injection Molding y Machine Loading y Machine Tending y Material Handling y Order Picking Resistance Welding Robot Laser Welding Spot Welding Tig Welding Welding Automation

y y y y y

y y y y y

Packaging Palletizing Part Transfer Pick and Place Press Tending

Other Applications y Bonding / Sealing y Cleanroom y Deburring y Drilling y Flame Spray y Foundry y Grinding y Material Removal

y y y y y y y

Milling Painting Automation Polishing Robotic Assembly Robotic Coating Thermal Spray Waterjet