DESIGN AND DEVELOPMENT OF ROBOTIC SYSTEM FOR

PICK AND PLACE OPERATION

Project-Based Laboratory Report

On

Introduction to Robotics

Submitted in partial fulfillment of the award of the degree

BACHELOR OF TECHNOLOGY
in
(Mechanical Engineering)

Submitted
by

NAME ID NUMBER
A.Balaji 170070002
V.Akhil 170070003
A.Jayanth 170070005
B.Anudeep 170070019

KLEF
Green Fields, VADDESWARAM – 522 502
Guntur District, A.P., INDIA.
 KL UNIVERSITY
Greenfields, VADDESWARAM

CERTIFICATE

THIS IS TO CERTIFY THAT THE PROJECT BASED LABORATORY REPORT ENTITLED

“DESIGN AND DEVELOPMENT OF PICK AND PLACE APPLICATION ”
SUBMITTED BY A. Balaji ,V. Akhil, A. Jayanth ,B. Anudeep IN PARTIAL FULFILLMENT
OF PROJECT BASED LAB IN Introduction to Robotics FOR BACHELOR OF TECHNOLOGY
IS A BONAFIDE RECORD OF THE WORK CARRIED OUT UNDER MY GUIDANCE AND
SUPERVISION AT KL UNIVERSITY DURING THE ACADEMIC YEAR 2018-2019.

Date:

Signature of Project guide HOD Mechanical

Dr. Y. Kalyan Chakravarthy Dr. A. Srinath
 Acknowledgment

It is a great pleasure for me to express my gratitude to our honorable President Sri.

Koneru Satyanarayana, for giving the opportunity and platform with facilities in
accomplishing the project-based laboratory report.
I express the sincere gratitude to our principal Dr.K.Subbarao for his administration
towards our academic growth.
I express my sincere thanks to our project supervisor Mr. Dr. Y. KALYAN
CHAKRAVARTHY for his/her novel association of ideas, encouragement,
appreciation and intellectual zeal which motivated us to venture this project
successfully.
Finally, it is pleased to acknowledge the indebtedness to all those who devoted
themselves directly or indirectly to make this project report success.

NAME ID NUMBER
A.Balaji 170070002
V.Akhil 170070003
A.Jayanth 170070005
B.Anudeep 170070019
 CONTENTS

1. Abstract
2. Introduction
3. Experiment work
4. Calculations
5. Results
6. Conclusion
 ABSTRACT

In this project we are designing a industrial robot application of this system is a robotic
manipulator with a Cartesian configuration type. which is used as pick and place, loading
and unloading, material handling, and so on. In this robot has the movement of the system
on each axis (x, y, and z) used for the process of determining the position coordinates (x
and y axis) and z axis for pick and place operation. We are performing a homogeneous
transformation matrix for a cartesian robot and sensors, actuators. Parameters involved in
pick and place operation are weight of an object, length(initial to final position perform by
end effector),shape of an object

Keywords: cartesian configuration, Industrial robot application

 INTRODUCTION

The Cartesian system is probably the simplest physical geometry to understand. It is

usually used for assembly applications and is particularly well suited for assembly
of printed circuit boards . The main motions are on the X-, y and z-axes. Its simple
Cartesian coordinates make the Cartesian coordinate robot easy to program off-line.
It is also called rectilinear or gantry robots. Cartesian robots have three linear joints
that use the Cartesian coordinate system (X, Y, and Z). They also may have an
attached wrist to allow for rotational movement. The three prismatic joints deliver a
linear motion along the axis. Configuration of a Cartesian robot is 3p(prismatic
joints).Work envelope is rectangle. They have three axes which are linear, they can
move in straight lines rather than rotating & they are mounted at right angles to each
other, They can do 3 translations using linear slides, The mechanical arrangement of
Cartesian robots is far simpler than most of the other stationary robots, It is used for
pick and place work, application of sealant, assembly operations, handling machine
tools and arc welding. Cartesian robot needs a large volume to operate & has a rigid
structure, The set of rotary motors coupled with nut & ball screws make it possible
to achieve the rectilinear motion, on frequent maintenance of these screws, the robots
will be more expensive. Cartesian robot is the most common robot used for both
industrial & commercial purposes, Plant operators use this type because they are
easy to use & program, Cartesian robot comes with linear movements that provide
the robot with a cube-shaped workspace that fits best with pick-and-place
applications & can range from 100 millimeters to tens of meters. It is a popular
choice because it is highly customizable, Customers can determine the stroke
lengths, speed and precision of the robots because most of the parts arrive separately
& they are assembled by the machine builders, one disadvantage of Cartesian robot
is the complexity of assembly required, plant operators choose this robot design most
often for the flexibility in its configuration that allows it to meet specific application
needs.
 EXPERIMENTAL WORK
In this project we are using mechanical gripper(pneumatic-single).Actually end
effector having 3 DOF ( pitch, yaw , role).In this project Link lengths will be
sufficient to complete task. Above reason end effector having 0 DOF. Sensors are
one of the important part in designing of any industrial or a domestic robotic systems.
The sensors used in this pick and place robotic application are Slip sensor: sensors
have been proposed that detect an incipient slip within the contact surface or stick-
slip. Force or Torque sensor. Force sensors are designed to detect forces applied
between their base and sensing plate. Force-Torque Sensors, also known as FT
Sensors, detect both forces and torques. They are usually placed on a robot's arm,
just before the end-effector Collision sensors. A collision sensor is a piece of
electronic safety equipment that detects an impact through vibrations.

Pneumatic actuator is used in the design ,they can be used to produce both rotational
motion and linear motion. Pneumatic Actuator basic design includes a Cylinder, a
Piston

ROBO ANALYZER:

Robo Analyzer is a software based on 3D model of robots. It was developed

primarily for teaching and learning of robot mechanics, although it is robust enough
for the use by researchers as well. The motive behind the development of Robo
Analyzer was mainly to help teachers and students get started with teaching/learning
of robotics using template-based skeleton models or CAD models of serial robots.

In this Project we took the help of roboanalyser ,the DH parameters Denavit

Hartenberg (DH) parameters used to define a robot's architecture, and the modeling
of the robot's input-output motion characteristics.
 Calculations:
DH parameters in Robo Analyser

Joint no Joint Joint Joint Link Twist Initial Final

type offset(b) m angle(thet length(a) angle(alph Value(JV value(J
a)deg m a)deg )deg or m V)deg
or m
1 Prismati Variable 90 0 90 0.1 0.3
c
2 Prismati Variable -90 0.15 90 0.1 0.2
c
3 Prismati Variable 0 0.15 90 0.1 0.2
c

Theoritical calculations:

Link-1:matrix

Link-2:matrix

Link-3:matrix
Homogeneous transformation matrix = product of above 3 matrices

0 0 -1.0000 0.2000
0 -1.0000 0 -0.2000
-1.0000 0 0 -0.2000
0 0 0 1.000

MATLAB CODE:

>> a=[0,0,1,0;1,0,0,0;0,1,0,0.1;0,0,0,1];

>> b=[0,0,-1,0;-1,0,0,-0.15;0,1,0,0.2;0,0,0,1];

>> c=a*b

c=

0 1.0000 0 0.2000

0 0 -1.0000 0

-1.0000 0 0 -0.0500

0 0 0 1.0000

>> d=[1,0,0,0.15;0,0,-1,0;0,1,0,0.2;0,0,0,1];

>> c*d

ans =

0 0 -1.0000 0.2000

0 -1.0000 0 -0.2000

-1.0000 0 0 -0.2000

0 0 0 1.0000
RESULTS : using Roboanalyzer

(LINK1-Transformation matrix)

(LINK2-Transformation matrix)

(LINK3 -Transformation matrix)

CONCLUSION:

The homogeneous matrix has been obtained by the Robo Analyser and calculating
the from the matrices link 1 , link2 ,link 3. Cartesian robots also have an ease-of-use
advantage in terms of programming because their kinematics are simpler (three
Cartesian axes, rather than multiple rotational axes). Applications are pick and place
, assembling .