Engineering Applications (2021 - 2022)

Project Brief: Robotic Arm

Skill Development

These are the skills that will developed by this project.

Dependencies

These are the project prerequisites that are required to finish this project.

Project Goals

These are the project goals that will be met and marked off as the project is completed.

Project Research

Robotic Arm Functions

Robotic Arm Model

Robotic Arm DIY Model

Cardboard Claw Prototype

This is the prototype model of the claw, made out of cardboard. It opens and closes, with a delay to allow it to pick up objects. It is unable to pick up small or thin objects due to the design of the claws, however.

Robotic Arm Base

This is the base of the robotic arm model. It has a 180 degree range of motion to either side.

Robotic Arm Claw (Wood)

This is the robotic arm claw, constructed from wood. It can open and close with simple motion, and can grasp items firmly.

Right & Left Servo Calibration

These are the servos on the sides rotating from 0 to 90 and 0 to 180.

20210927_103502.mp4

Robot Slow Functionality

This is a video of the robot picking an object up from one end and transporting it to the other.

Robot Slow Functionality Code

#include <Servo.h>

Servo servo;

Servo bservo;

Servo cservo;

Servo dservo;

void setup() {

servo.attach(5);//arm, bottom piece

bservo.attach(6);//base, far servo

cservo.attach(7);//claw

dservo.attach(8);//base2

bservo.write(180);

dservo.write(90);

servo.write(90);

cservo.write(0);

delay(300);

dservo.write(90);

delay(300);

bservo.write(180);

delay(300);

cservo.write(45);

delay(2000);

cservo.write(0);

delay(2000);

for(int i=180; i>160; i-=1){

bservo.write(i);

delay(30);

}

bservo.write(160);

delay(300);

for(int i=90; i>0; i-=1){

servo.write(i);

delay(30);

}

servo.write(0);

delay(2000);

for(int i=0; i<60; i+=1){

cservo.write(i);

delay(30);

}

cservo.write(60);

delay(1000);

for(int i=90; i<140; i+=1){

dservo.write(i);

delay(30);

}

dservo.write(140);

delay(1000);

for(int i=60; i>0; i-=1){

cservo.write(i);

delay(30);

}

cservo.write(0);

delay(1000);

for(int i=140; i>90; i-=1){

dservo.write(i);

delay(30);

}

dservo.write(90);

delay(1000);

for(int i=0; i<180; i+=1){

servo.write(i);

delay(30);

}

servo.write(180);

delay(1000);

for(int i=90; i<140; i+=1){

dservo.write(i);

delay(30);

}

dservo.write(140);

delay(300);

for(int i=0; i<60; i+=1){

cservo.write(i);

delay(30);

}

cservo.write(60);

delay(1000);

for(int i=140; i>90; i-=1){

dservo.write(i);

delay(30);

}

dservo.write(90);

delay(300);

for(int i=160; i<180; i+=1){

bservo.write(i);

delay(30);

}

bservo.write(180);

delay(1000);

for(int i=180; i>90; i-=1){

servo.write(i);

delay(30);

}

servo.write(90);

}

void loop(){

}

20211001_102723.mp4

Robot Coding Quiz Functionality

This is the video for the robot coding quiz. It moves to one side, extends, picks up an object, retracts, moves to the other side, extends, places the object down, and then resets.

Robot Coding Quiz Code

#include <Servo.h>

Servo servo;

Servo bservo;

Servo cservo;

Servo dservo;

void setup() {

// put your setup code here, to run once:

servo.attach(5);//arm, bottom piece

bservo.attach(6);//base, far servo

cservo.attach(7);//claw

dservo.attach(8);//base2

bservo.write(180);

dservo.write(90);

servo.write(90);

cservo.write(80);

delay(1000);

for(int i = 90; i>45;i-=1){

servo.write(i);

delay(30);

}

servo.write(45);

delay(1000);

for(int i = 180; i>160;i-=1){

bservo.write(i);

delay(30);

}

bservo.write(160);

delay(1000);

for(int i = 90; i<180;i+=1){

dservo.write(i);

delay(30);

}

dservo.write(180);

delay(1000);

for(int i = 80; i>0;i-=1){

cservo.write(i);

delay(30);

}

cservo.write(0);

delay(1000);

for(int i = 180; i>90;i-=1){

dservo.write(i);

delay(30);

}

dservo.write(90);

delay(1000);

for(int i = 160; i<180;i+=1){

bservo.write(i);

delay(30);

}

bservo.write(180);

delay(1000);

for(int i = 45; i<135;i+=1){

servo.write(i);

delay(30);

}

servo.write(135);

delay(1000);

for(int i = 180; i>160;i-=1){

bservo.write(i);

delay(30);

}

bservo.write(160);

delay(1000);

for(int i = 90; i<180;i+=1){

dservo.write(i);

delay(30);

}

dservo.write(180);

delay(1000);

for(int i = 0; i<80;i+=1){

cservo.write(i);

delay(30);

}

cservo.write(80);

int bpos = 160;

int dpos = 180;

int pos = 135;

int count = 0;

while(count < 100){

bpos+=(20/50);

dpos-=(90/50);

pos-=(45/50);

bservo.write(bpos);

delay(30);

dservo.write(dpos);

delay(30);

servo.write(pos);

delay(30);

count++;

}

bservo.write(180);

dservo.write(90);

servo.write(90);

}

void loop() {

// put your main code here, to run repeatedly:

}

20211015_105242.mp4

RGB Sensor Working

This is the RGB Sensor test. The blank (pointing towards nothing) values were shown, followed by recording the values of a orange and green skittle.

Arduino Servo Motor + RGB Sensor Diagram

Diagram of the circuit that will control the servo arm with the color view sensor.

20211101_110514.mp4

Robot Arm Reaction to Colorview Sensor

This is the video of the robotic arm reacting to stimuli in the colorview sensor.

Color Sorter Research

This is a compact, Arduino powered sorting machine that sorts from one input into 5 separate outputs.

This is an open design that shows the inner workings of the machine, allowing for easy troubleshooting and the ability to view if it functioning properly or not.

This design is similar to the first, with the added difference of having a larger chute at the end to prevent spillage.

This is a 3D-printed design that swivels and sorts in 360 degrees rather than just 180, allowing for greater distinction or more categories of sorting. It also sorts 6 types rather than 5.

Rapid Prototyping Day 1

This is day 1 of rapidly prototyping a sorting machine. On this day we conducted research on existing designs and sketched out a basic idea of a design.

Rapid Prototyping Day 2

This is day 2 of rapidly prototyping a sorting machine. Here you can see that the machine reacts to color stimuli and moves the arm accordingly.

20211110_104303.mp4

20211115_102315.mp4

Rapid Prototyping Day 3

On day 3 of rapidly prototyping, the machine was raised off of the ground a considerable amount, and a chute was added to the exit of the machine. Calibration of the bottom chute still required.

Rapid Prototyping Day 4

On day 4 of rapidly prototyping, a chute was added to the entrance of the machine, and a lid was added to the machine. Development began on the boxes that will hold the sorted skittles.

Rapid Prototyping Day 5

On this day we secured the color sensor to the machine to get consistent readings, then calibrated the chutes accordingly to sort the inputs.

Rapid Prototyping Circuit Diagram

This is the circuit diagram of the prototype.

Rapid Prototyping Code

#include <Servo.h>

#include <Wire.h>

#include "Adafruit_TCS34725.h"

float active = true;

float phase = 0;

float pos;

Servo servo1;

Servo servo2;

//reds = 125, 75, 60

//orang = 140, 70, 50

//yellow = 130, 80, 50

//purp = 120, 80, 60

//green = 105, 90, 60

//carboard = 105, 85, 70

#define redpin 2

#define greenpin 3

#define bluepin 4

#define commonAnode true

byte gammatable[256];

Adafruit_TCS34725 tcs = Adafruit_TCS34725(TCS34725_INTEGRATIONTIME_50MS, TCS34725_GAIN_4X);

void setup() {

// put your setup code here, to run once:

//colorview stuff

Serial.begin(9600);

if (tcs.begin()) {

Serial.println("Found sensor");

} else {

Serial.println("No TCS34725 found ... check your connections");

while (1); // halt!

}

#if defined(ARDUINO_ARCH_ESP32)

ledcAttachPin(redpin, 1);

ledcSetup(1, 12000, 8);

ledcAttachPin(greenpin, 2);

ledcSetup(2, 12000, 8);

ledcAttachPin(bluepin, 3);

ledcSetup(3, 12000, 8);

#else

pinMode(redpin, OUTPUT);

pinMode(greenpin, OUTPUT);

pinMode(bluepin, OUTPUT);

#endif

for (int i=0; i<256; i++) {

float x = i;

x /= 255;

x = pow(x, 2.5);

x *= 255;

if (commonAnode) {

gammatable[i] = 255 - x;

} else {

gammatable[i] = x;

}

//Serial.println(gammatable[i]);

}

//servo stuff

servo1.attach(7);

servo2.attach(8);

servo1.write(0);

delay(1000);

servo1.write(90);

delay(1000);

servo2.write(60);

delay(2000);

servo2.write(120);

delay(2000);

servo2.write(90);

delay(2000);

active = false;

pos = 90;

phase = 1;

}

float red, green, blue;

void loop() {

// put your main code here, to run repeatedly:

if(phase == 1 && active == false){

active = true;

for(int i = 0; i<90; i++){

servo1.write(i);

delay(10);

}

servo1.write(90);

delay(2000);

for(int i = 90; i>45; i--){

servo1.write(i);

delay(10);

}

servo1.write(45);

delay(1000);

active = false;

phase = 2;

while(phase == 2 && active == false){

scan();

if(red >= 140 && red <= 158 && green >= 60 && green <= 72 && blue >= 51 && blue <= 72){ //red

active = true;

for(int i = 90; i>0; i--){

servo2.write(i);

delay(10);

}

pos = 0;

servo2.write(0);

delay(200);

for(int i = 45; i>0; i--){

servo1.write(i);

delay(10);

}

servo1.write(0);

} else if(red >= 125 && red <= 135 && green >= 70 && green <= 79 && blue >= 45 && blue <= 56){//purple

active = true;

for(int i = 90; i>60; i--){

servo2.write(i);

delay(10);

}

pos = 60;

servo2.write(60);

delay(200);

for(int i = 45; i>0; i--){

servo1.write(i);

delay(10);

}

servo1.write(0);

} else if(red >= 114 && red <= 122 && green >= 86 && green <= 91 && blue >= 42 && blue <= 51){//green

active = true;

for(int i = 45; i>0; i--){

servo1.write(i);

delay(10);

}

pos = 90;

servo1.write(0);

} else if(red >= 122 && red <= 139 && green >= 72 && green <= 81 && blue >= 34 && blue <= 42){//yellow

active = true;

for(int i = 90; i<120; i++){

servo2.write(i);

delay(10);

}

servo2.write(120);

delay(200);

for(int i = 45; i>0; i--){

servo1.write(i);

delay(10);

}

pos = 120;

servo1.write(0);

} else if(red >= 149 && red <= 158 && green >= 60 && green <= 66 && blue >= 37 && blue <= 44){//orange

active = true;

for(int i = 90; i<180; i++){

servo2.write(i);

delay(10);

}

servo2.write(180);

delay(200);

for(int i = 45; i>0; i--){

servo1.write(i);

delay(10);

}

pos = 180;

servo1.write(0);

}

delay(60);

}

delay(1000);

if(pos != 90){

if(pos > 90){

for(int i = pos; i>90; i--){

servo2.write(i);

delay(10);

}

} else if(pos < 90){

for(int i = pos; i<90; i++){

servo2.write(i);

delay(10);

}

servo2.write(90);

delay(200);

active = false;

phase = 1;

}

void scan(){

tcs.setInterrupt(false); // turn on LED

delay(60); // takes 50ms to read

tcs.getRGB(&red, &green, &blue);

tcs.setInterrupt(true); // turn off LED

Serial.print("R:\t"); Serial.print(int(red));

Serial.print("\tG:\t"); Serial.print(int(green));

Serial.print("\tB:\t"); Serial.print(int(blue));

// Serial.print("\t");

// Serial.print((int)red, HEX); Serial.print((int)green, HEX); Serial.print((int)blue, HEX);

Serial.print("\n");

#if defined(ARDUINO_ARCH_ESP32)

ledcWrite(1, gammatable[(int)red]);

ledcWrite(2, gammatable[(int)green]);

ledcWrite(3, gammatable[(int)blue]);

#else

analogWrite(redpin, gammatable[(int)red]);

analogWrite(greenpin, gammatable[(int)green]);

analogWrite(bluepin, gammatable[(int)blue]);

#endif

}

Rapid Prototyping Day 6

In day 6 of working on the prototype, we completed the sorting boxes where the output would be sorted to.

Prototype Functions (Coding Side)

The three most important functions of the prototype is that it scans the skittle from the input one at a time, determines what type of skittle it is, and sorts the skittle into separate inputs. Listed here are the two functions I worked on.

The first function is the identify/process phase, where the sensor scans each skittle and identifies what color it is. It then updates the output motor, which receives the data, before updating the slide servo to the exit chamber to move the skittle to the output motor. This is the portion that received the most updates, as calibration for the sensor was difficult. This part was worked on from Day 3 onward, continually being calibrated and changed as the frame was designed. Testing the sensor motor was dependent on inputting several of the same type (color) of skittle, and recording the values the sensor would read, then adjusting the calibration values based on the sensor feedback.

The second function that I worked on is the output phase, where the exit chute moves to the correct location, and the slide motor moves the skittle to the exit, causing it to fall down and be sorted into one of five different boxes. It was created on day 4 of prototyping, and tested on both that day and day 5, as it was simple to create 5 distinct outputs and have it loop between them before linking it to the systems. Some problems that we ran into while we designed it was that it would keep physically clipping on the output boxes and catching on itself, which we fixed by making modifications to the chute, raising it above the boxes so it didn't clip them.

Rapid Prototyping Day 7

On day 7 we recalibrated the sensor once more, and reformatted the funnel so that it would not jam as much.

20211215_110153.mp4

Rapid Prototyping Day 8

This is a video of the prototype sorting skittles. It accepts 1 skittle at a time, moves it to the sensor, scans it, detects which color the skittle is by comparing the sensor readings to a list of preset parameters, and then moving the exit chute accordingly.

Recycling Sorting Machine

Recycling Sorting Machine Research 1: Pre-existing DIY Sorter

This is a sorting machine that sorts ferrous (magnetic) metals from other objects. Scaled up, this is a way to remove metal recyclables from other materials.

Recycling Sorting Machine Research 2: Recycling Facilities

This is a general rundown on how most recycling plants/companies sort material from one another.

Recycling Sorting Machine Research 3: MRF Facility

This is a in-depth walkthrough on how MRF facilities sort recyclable material, and what they specifically look for when sorting said material.

Recycling Sorting Machine Research 4: Optimized Sorting Methods

This is an analysis that displays statistics on recycling and waste plants, and also shows the steps they take to sort out and process the many different types of material.

20220204_101304.mp4

Stepper Motor

Stepper motor.