RentKaro
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INTRODUTION
•For many years, people have attempted to replace human labor with robots.
•Robots are machines that are quicker and more effective than humans. Robotics is described as the study, design, and use of robot systems for manufacturing purposes.
•Robots are typically utilized to undertake activities that are dangerous, repetitive, and unpleasant.
•Material handling (sorting), pick and place, assembly, arc welding, resistance welding, machine tool load and unload tasks, painting, spraying, and other functions are all included.
•Many aspects of robots are modeled after natural phenomena.
PROBLEM STATEMENT
The problem statement is to design a robotic arm having 6 DOF in cost effective way with interchangeable end-effector and study its parameters & with interchangeable end-effector for improved production capacity and adaptable to changes to the production process or workpieces.
OBJECTIVE OF PROJECT
The purpose of using a robotic arm is to reduce errors and human efforts. As the robotic field is having an application in various departments of engineering such as production, inspection, material handling, etc.
To increase the working speed.
To avoid accidents in the industry.
To increase the production.
This work investigates the modeling and control of the robot manipulator by analyzing the kinematics of the robot and applying control techniques. Thesis work is undertaken in the following developmental stages; first, we derive the forward and inverse kinematics equations of the robot.
METHODOLOGY
•COMPONENTS OF ROBOT : The entire design part of the project consists of various design parts. The design of following components is required as a part of the project. The various components which require design in the project of Pick and place robot are:
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•Arduino Mega 2560
•Stepper Motor
•Robot Operating System (ROS)
•Power Supply
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•ARDUINO MEGA 2560 R3: Arduino Mega 3.3v pins to supply external electrical devices. It has the clock speed of 16 M Hz. It runs on c language. It has 16 analog inputs and outputs.
•STEPPER MOTOR = All Nema 23 standard motor are used. All motors have the same torque of 10kg/cm where it is increased by reduction gearbox. Where Both are hybrid stepping motor which are of 1.7A and runs at 2.8V. Motor has 1.8 degree of step angle and its each revolution has 200 steps.
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•ROBOT OPERATING SYSTEM (ROS): ROS is open source robotics middleware suite, ROS is not operating system but the collection of software framework for robot software development. It provides services. Generally it is used for the simulation of the arm.
•Basics of robot:
•Controller
•Manipulator
•Teach pendant
The manipulator is moved by means of stepper motos controlled by the controller
•The manipulator is the actual robot arm. It consists of a number of moving links
(axes) that are linked together to form a "kinematic chain“.
1 Manipulator (robot arm)
2 Start of the kinematic chain: base of the robot (ROBROOT)
3 Free end of the kinematic chain: flange (FLANGE)
A1…A6 Robot axes 1 to 6
The individual axes are moved by means of targeted actuation of steppermotors. These are linked to the individual components of the manipulator via reduction gears.
•A control box for programming the motions of a robot. Also called a "teach box," the robot is set to "learning" or "teach" mode, and the pendant is used to control the robot step by step. Teach pendants are typically handheld devices and may be wired or wireless.
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