EXPT 9 PALLETIZATION OF OBJECTS USING PICK AND PLACE ROBOT

AIM : To write and execute code for palletization of objects using robot .

Description about Robot :

The SCORBOT-ER 4u is a vertical articulated robot, with five revolute joints. With
gripper attached, the robot has six degrees of freedom. This design permits the end effectors to
be positioned and oriented arbitrarily within a large work space.

• The movements of the joints are described in the following table:

• The robots five axes and gripper are operated by DC servo motors. The direction of
motor revolution is determined by the polarity of the operating voltage: positive DC
 voltage turns the motor in one direction, while the negative DC voltage turns in
opposite direction.
• The location and movement of each axis is measured by an electro optical encoder
attached to the shaft of the motor which drives the axis. When the robot axis moves,
the encoder generates a series of alternating high and low electrical signals. The
number of signals is proportional to the amount of axis motion.
• Several kinds of transmissions are used to move the links of the robot arm
Spur gears move the base and shoulder axes
Pulleys and timing belts move the elbow axis
Pulleys and timing belts, and a bevel gear differential unit at the end of the arm
move the wrist pitch and roll axis
A lead screw transmission opens and closes the gripper

Specifications of Robot :

No of axes : 5

Motions : Base Rotation

Shoulder Rotation

Elbow Rotation

Wrist Pitch

Wrist Roll

Max Operating Radius : 610 mm

Pay load : 1 kg

Weight of Robot : 10.8 kg

SCORBASE software:

SCORBASE for SCORBOT ER 4U is a robotics control software package for robot

programming and operation. It provides numerous capabilities like

• Communication with the robot controller over USB channel

• Control and real time status display of five robot axes, gripper and two peripheral
axes
 • Position definition and display as well as manual robot movement in reference to
Joint coordinate system
• Saving and loading projects

Homing and Control:

The robot and peripheral axes location is monitored and controlled using encoders. To
initialize the encoders and to obtain repeatable performance the axes must first reach a
predefined position known as hard home. All recorded positions and movements refer to hard
home position. The homing finds the hard home for the selected axes.

Position Definition:

Every SCORBASE project included a set of predefined positions and a program that sends the
robot from one position to the other. Prior to running a program all the positions used in that
program should be defined. SCORBASE offers various tools to define and store
positions that will be used in the programs.

The following SCORBASE tools are used in the position definition process.

• Manual Movement Dialogue Box

• Teach positions dialogue box
• Robot movement dialogue box
• Position data dialogue box
• Positions window

Code :

Go to Position 4 Speed 5
Open Gripper

Go to Position 3 Speed 5

Close Gripper

Go to Position 4 Speed 5
 Go to Position 5 Speed 5

Go to Position 8 Speed 5

Open Gripper

Go to Position 5 Speed 5

Go to Position 4 Speed 5

Go to Position 2 Speed 5

Close Gripper

Go to Position 4 Speed 5

Go to Position 5 Speed 5

Go to Position 7 Speed 5

Open Gripper

Go to Position 5 Speed 5

Go to Position 4 Speed 5

Go to Position 1 Speed 5

Close Gripper

Go to Position 4 Speed 5

Go to Position 5 Speed 5

Go to Position 6 Speed 5

Open Gripper

Go to Position 5 Speed 5

Close Gripper

Precautions:

1. Make sure that robot base is properly and securely bolted in place
2. Make sure that robot arm has ample space in which to operate freely
 3. Do not enter into the robot safety range or touch the robot when the system is in
operation.
4. Make sure that loose hair and clothing is tied back when you work with the robot

Result:

The code for Palletization of objects using Robot is written and executed .