Experiment No.

AIM:-Write a program to pick object and place it in different location. Theory:- In this activity we are going to perform 5 axis Robotic arm movements and
degrees of rotation of each axis. In this robot we can move each axis separately in its limits of degrees of rotation. Each axis has its maximum and minimum limit of rotation or say displacement. Maximum and minimum values of rotation of each axis is given below, Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Maximum 320 Maximum 50 Maximum 50 Maximum 180 Maximum 180 Minimum 0 Minimum 0 Minimum 0 Minimum 0 Minimum 0

Procedure: 1. Bring the Robot to the Home position by clicking on the Home Tab on Menu bar. 2. Place the object on the arrangement as suggested.

3. Then move the axes one by one by giving different values except 1st Axis, In such a way that Gripper and Arms will reach to the object placed on the arrangement. 4. Now, enter the values for Job width in % and total flang time and then click on the Clamp in order to pick the object.

5. Now, move the axis 2nd and 3rd in order to move it forward on the arrangement and then move the axis 1st in order to move it in various directions in 320.You can move the object in various directions. Either you can Unclamp the object or move it to the previous position.

6. In this way we can create a programme for pick and place arrangement and we can repeat the same programme for number of times by entering the number in the box provided on the top of the Run tab. The commands you use or movements you give for the different axes it will appear as a programme on the right side of the window and you can save it also.

Sample Program:Home position

A1 + 30 A2 + 20 A3 + 35 A4 + 60 A5 + 40 CLAMP A5 - 30 A4 - 20 A3 - 35 A2- 25 A1 - 60 UNCLAMP Result:- Thus the pick and place of the object has been done.