PROJECT REPORT

Dissertation submitted in partial fulfillment of the B.Tech. course.

MOBILE CONTROLLED ROBOTIC ARM

SUBMITTED TO: Er.(MRS.) JASPREET KAUR LECTURER, GNDU AMRITSAR

SUBMITTED BY: SHAMINDER PAL SINGH VARINDER SINGH ISHAN DATTA

ACKNOWLEDGEMENT

We would like to express our gratitude and appreciation to all those who gave us the possibility to complete this project. A special thanks to our friend r. Akhil !ashyap" whose

help" stimulating suggestions and encouragement" helped us to coordinate our project especially in writing this report. We would also like to acknowledge with much appreciation the crucial role of the staff of #lectronics $aboratory" who gave the permission to use all re%uired machinery and the necessary material to complete this &roject. A special thanks goes to our class mates" Atul !ashyap and 'arjot (ingh " who helped us to purchase the parts and gave suggestion about the &roject. We also owe a great thanks to our dearest friend r. )aurav !alia who helped us in the

&rogramming code and arrangement of the burner for burning the programm. $ast but not least" many thanks go to the )uide of the project #r.* rs.+ ,aspreet !aur" Who

has given her full effort in guiding the team in achieving the goal as well as her encouragement to maintain our progress in track. Without her proper support and guidance this project would not have been a reality. We would like to appreciate the guidance given by other supervisor as well as the panels especially in our project presentation that has improved our presentation skills by their comment and tips.

TABLE OF CONTENTS Page PROJECT DECLARATION ACKNOWLEDGEMENTS TABLE OF CONTENTS INTRODUCTION AND CONCEPT COMPONENTS USED MOTOR CIRCUIT BLOCK DIAGRAM PIN DIAGRAM OF !S"2 CODING PROGRAMM APPLICATIONS# PROS N CONS 1 2 3 4-7 7-11 11-16 17 1 1!-21 22 .

-2 4489 is a B2D to DT : decoder. -n this project we will show that how we can control the movement of any small robotic arm with the help of mobile phone.-. -n this project we use -2 45c67 as a main processor. Whenever we press any switch from the transmitter phone then transmitter transmits some signal as per the switch press. This part is very much necessary" without using this part it is not possible to interact with the mobile phone or DT : based any phone. -st circuit is -2 4489. (o on every switch pressed there is a different signal .2#&T 3 icrocontroller sense -n this project we use smart logic and control system of embedded system by using microcontroller. By using this logic we not only control the movement of arm but also we can pick up things with it. 20. With the help of mobile phone we change the directions of the robotic arm. (o our first part of the circuit is our DT : decoder. the signal and drive the motor of the robotic arm.T/0D12T-0.

is active low.76.76. 'ere in this project we use -2 &2478 as a optocoupler to interface the microcontroller to small slow speed dc gear motor. -2 45c<967 microcontroller basically drives the motor for forward and reverse movement.:re%uency #!% %% '&2 !$1 12 ! 1 $ % ( 1""# 2 & ' 1$%% " # ! ) 1#"" A B C D 0utput of the DT : decoder is B2D. 0utput of the microcontroller is connected to the optocoupler circuit. converts the B2D signal into decimal signal . The next circuit is how to convert B2D signal into decimal signal. 0utput of the 8. is connected to the 45c<967 microcontroller. 0utput of the 8. as a B2D to decimal decoder circuit. IC 7476.76. . -n this project we use -2 8.

34 .r -. .P*+.//01 23r2. -2 8496 regulator converts the 5 volt dc into 6 volt dc with the help of the 6 volt regulator 8496. 'ere in the project we one 6 volt regulator circuit. -n this project we use 5 volt battery to control the robotic arm. 0utput of the 5 volt dc is converted into 6 volt dc by using 8496 regulator circuit.

0ne motor for the base" one motor for the upper handle and one for the clamper.M*4*r- To make the robots mobile we need to have motors and the control circuitry that could control the motors. -n this project we use three small gear dc motor for drive the small robot. (tepper motor =. . (tepper motor is not suitable here. 'ere we use powerful gear dc motor instead of stepper motor. By using this -2 we decode the DT : pulses from the mobile phone through hands free and by using this -2 we convert this pulses in to B2D signal. D2 motor <. (ervo motor ARM CONTROL. (tepper motor is suitable for positioning sensor but D2 motor is suitable for the arm control. COMPOENTS USED IN THIS PROJECT: -2 4489 DT : D#20D#/ 3 We use this -2 in our project for mobile interface. 7. There are different kinds of motors available for different application.

This is explained later in the report. -n this project we use three dc motors. These motors are used for different positions of the robotic arm. .64 h@ and with the microcontroller we use 7< h@ crystal. -2 8.76.T/0$$#/ is especially used for applications.76. bit data in to 7> bit output.76.A ' B/-D)# $0)-23 ' bridge logic is basically provide a forward and reverse logic to the motor. -n this coupler two pin is input and two pin is output. pin -2. 0&T0201&$#/ * &2 478+3 -n this project we use optocoupler to provide a electrical isolation between process control circuit and motor drive circuit. 2/?(TA$3 -n this project we use two crystal. 0ne for the DT : decoder" second with the microcontroller. &c 478 is . The pin diagram for this controller is shown later in this report.T/0$$#/ 345(6< -2/020. With the DT : decoder we use crystal =. convert the . ain use of the crystal is to provide a external fre%uency for the internal oscillator.-2 8. 45(6< )( -2/20. basically converts the B2D signal in decimal signal for further use with the microcontroller.3 -2 8. D2 0T0/3 We use slow speed dc motor to drive the movement of arm. 'ere in this project there is no use of 7> output" so we use only > output.&rogram written for this controller is same for the 4967 controller. -n this project we use separate supply for processor and control circuit.

D*<+ 2A&A2-T0/ ( 1(#D3 7999mfd" 79 mfd" 7mfd" <<pf D2 0T0/ * )#A/ 0T0/+ = 0T0/C( .89 0' .& T/A. T/A.4 *>+ &.64 h@+" *7< hB+ 8496 /#)1$AT0/.&.. *7+ 45(6<*7+ &2 478*>+ 2/?(TA$ * =.(-(T0/ B2 664*>+ /#(-(T0/( 1(#D3 .76. .COMPONENTS USED: -2 4489*7+ -2 8.#.(-(T0/ B2 6.8 ! 0' 7 ! 0' <<! 0' 799 ! 79 ! $.

3/6. -t will be of following shape <E = . :irst of all we will design the jaws of robotic arm. -n this project we will control the stepper motors with microcontroller.6E F 6E (tepper otors (crews 7E Warshels . Then we will solder components on &2B.:or )( we will use DT : technology of telephones. With this project we will able to control the conveyor speed"2rane control"lift control. -n robotic arm we will use D2 motors for contolling purpose.74:8 :iler"2utter"(oldering -ron" • H9r:+9r.:8 Wood piecesD 7. /obotic arm is one of the major project in toaday automation industries. -n this project we will make 6volt power supply for microcontroller circuit. /obotic arm is part of the mechatronic industry todays fast growing industry.ut 7. -n this project we will three D2 motors for controlling purpose.6E etallic sheet -n this project we will control the robotic arm with )( . :irst of all we will make the &2BD printed circuit board.• E5.

. (peciali@ed circuits *motor drivers+ have been developed to supply motors with power and to isolate the other -2s from electrical problems. < 7 = inch 79 inch DC 6*4*rThese are the motors that are commonly found in the toys and the tape recorders.A/ 3 arm will be made up of wood material. ost chips canGt pass enough current or voltage to spin a motor. These motors change the direction of rotation by changing the polarity. These circuits can be designed such that they can be completely separate boards" reusable from projects. A very popular circuit for driving D2 motors *ordinary or gearhead+ is called an 'Dbridge. Also" motors tend to be electrically noisy *spikes+ and can slam power back into the control lines when the motor direction or speed is changed.

-tGs called that because it looks like the capital letter G'G on classic schematics. H8Br3:<. C3r2. -n this circuit two of four transistors are selectively enabled to control current flow through a motor. The great ability of an 'Dbridge circuit is that the motor can be driven forward or backward at any speed" optionally using a completely independent power source. T.34 This circuit known as the H-bridge *named for its topological similarity to the letter H'H+ is commonly used to drive motors.. .

The other pair is disabled" and can be thought of as out of the circuit. By determining which pair of transistors is enabled" current can be made to flow in either of the two directions through the motor. Because permanentDmagnet motors reverse their direction of turn when the current flow is reversed" this circuit allows bidirectional control of the motor. C3r2. E79=0. +34. T.34r1 .opposite pair of transistors *Transistor 0ne and Transistor Three+ is enabled" allowing current to flow through the motor.. H8Br3:<.

-n this circuit" the internal inverters ensure that the vertical pairs of transistors are never enabled simultaneously. .-t should be clear that one would never want to enable Transistors 0ne and Two or Transistors Three and :our simultaneously. To prevent the possibility of this failure" enable circuitry as depicted in :igure is typically used. This would cause current to flow from &ower I to &ower D through the transistors" and not the motors" at the maximum currentDhandling capacity of either the power supply or the transistors. The Enable input determines whether or not the whole circuit is operational. This usually results in failure of the 'D Bridge. -f this input is false" then none of the transistors are enabled" and the motor is free to coast to a stop.

This operation will actively brake the motor" due to a property of motors known as back emf" in which a motor that is turning generates a voltage counter to its rotation. When both terminals of the motor are brought to the same electrical potential" the back emf causes resistance to the motorGs rotation. $A?01T 0: -2 478 0&T0D201&$#/ . &-.ote that if both direction inputs are the same state *either true or false+ and the circuit is enabled" both terminals will be brought to the same voltage *&ower I or &ower D " respectively+.By turning on the Enable input and controlling the two Direction inputs" the motor can be made to turn in either direction. .

This prevents common -/ interference sources such as sunlight and indoor lighting. The infrared detector also has an electronic filter that only allows signals around =4. (ince 7<9 '@ is way outside the electronic filterCs =4. icrocontroller sense the signal from the decimal decoder and same output is connected to microcontroller and so on dc motor drive circuit. 9=*. B$02! D-A)/A .6 k'@ to pass through. -n other words" the detector is only looking for infrared thatCs flashing on and off =4"699 times per second.24*r The -/ detectors have builtDin optical filters that allow very little light except the 549 nm infrared that we want to detect onto its internal photodiode sensor. 0ne for the one motor.4 IR 8 D. .4.M*r. -. (unlight is D2 interference *9 '@+" and indoor lighting tends to flash on and off at either 799 or 7<9 '@" depending on the main power source in the region where you reside.6 k'@ band pass fre%uency" it is" for all practical purposes" completely ignored by the -/ detectors. this project we use total three motors so to control the motors we re%uire three ' bridge circuits.

T0$$#/ .&-. D-A)/A 0: 45(6< -2/020.

.

>3. .B &7..8 A2A$$ (8 .53.$&3 .5 A2A$$ (5 .B &7.9".7 A2A$$ (77 (.B &7.7".9 A2A$$ D#$A?< /#T (<3 2&$ &<.) :0/ T'# 45(6< -2/020.8".B &7.7".83.9".4 A2A$$ (4 .= A2A$$ (< .B &=. & A-.> A2A$$ (> .B &7.20D-.793.< A2A$$ (7 .6".<3.73.6 A2A$$ (6 ..3.7 A2A$$ D#$A?< /#T .B &7.63.>".".B &7.=".T/0$$#/ 0/) 9999' 0J A"K9::' A-.79 A2A$$ (79 .B &7.B &=.<".43.=3.$& (73 2&$ &<. A2A$$ (..

< A2A$$ D#$A?< /#T (63 2&$ &<.> A2A$$ D#$A?< /#T (53 2&$ &<.(.= A2A$$ D#$A?< /#T (>3 2&$ &<.8 A2A$$ D#$A?< /#T (793 2&$ &9. A2A$$ D#$A?< /#T (83 2&$ &<..6 A2A$$ D#$A?< /#T (43 2&$ &<.7 A2A$$ D#$A?< /#T D#$A?<3 A2A$$ D#$A?7 /#T .9 A2A$$ D#$A?< /#T (773 2&$ &9.3 2&$ &<.

.D#$A?73 0J /9"K97' '#/#3 0J /7"K97' '73 D.B /9"'#/# /#TA #..B /7"'7 D.D A 0T0/ D#$A? .

5.-: 7. <.. <. . 4. >. &ortable #asy to fabricate :lexible /eliable D3-9:?9749<.*> GSM: 7. =.999D6999 <. =. 8.-: 7. .etwork problemD it will work in area where network works . 2ostlyD)( modem cost is around /s. 6. ..A//032943*7. &repaid energy meter )( robot voice and data communication feedback system wireless car documentation parking control of devices water level indicator accident security A:?9749<..