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STUDY AND DEVELOPMENT OF ARTICULATED ROBOT
Submitted in partial fulfillment of the requirements of the
Diploma in Mechanical Engineering (Robotics and Automation)
(Integrated BTech Programme)
by
Nikhil Niranjan Bokil (PRN. 1032210129)
Soham Rohit Joshi (PRN. 1032210463)
Sarvesh Jogalekar (PRN. 103210133)
Soham Kolhe (PRN. 1032210477)
Under the guidance of
Prof. S.N Patil
Mechanical Engineering
Department of Polytechnic, SoET
Dr. Vishwanath Karad MIT World Peace University
2023-24
0
Dr. Vishwanath Karad MIT World Peace University, Pune, India
SCHOOL OF ENGINEERING & TECHNOLOGY
DEPARTMENT OF POLYTECHNIC
CERTIFICATE
This is to certify that the students
1. Soham Joshi (PRN No. 1032210463)
2. Nikhil Bokil (PRN No. 1032210129)
3. Sarvesh Jogalekar (PRN No. 103210133)
4. Soham Kolhe (PRN. 1032210477)
havesatisfactorilycarriedouttheMajorProjectworkofThirdYearofDiplomainMechanical
Engineering - Robotics & Automation (Integrated BTech programme) entitled “Study &
Development of Articulated Robot”. This project workisbeingsubmitted attheendofthe
sixth semester of the programme. It is submitted in the partial fulfillment of the prescribed
syllabus of Dr. Vishwanath Karad MIT World Peace University, Pune, India.
rof.S.N. Patil
P rof. M.R. Mahajan
P Prof. Dr. R. S. Kale
Project Guide Programme Head - rogramme Director
P
Assistant Professor - Mechanical Engineering Department of Polytechnic
echanical Engineering
M
Date - 26/04/2024
Place-MIT-WPU, Pune
1
Dr. Vishwanath Karad MIT World Peace University, Pune, India
ABSTRACT
The Robot is a mechanical device that can be defined as an automatically controlled,
re-programmable, multipurpose manipulator in three or more axes (in three or more DOF),
which may be either fixed or portable. Robots are now more than an electro-mechanical
machine,asrobotsthatarecontrolledbyaprogramorcircuittobecomethesolutionofthefuture
ascustomer’sdemand.PickandPlacerobotsarewidelyusedinthemanufacturingindustry.Itis
equippedwithanarduinouno(microcontroller)and joystickcontrolstocontrolthemanipulator,
also it is more accurate and the user is able to plan the trajectory of the robot. The
implementation of articulatedrobotsintheindustryindeedenhancesproduction,capabilityand
increases profitability. Robotics and automation is employed in order to replace humans to
perform those tasks that are routine, dangerous, dull and in a hazardous area. In a world of
advanced technology. Today automation greatly increases production capability, improves
product quality andlowerproductioncost.Ittakesjustafewpeopletoprogramormonitorthe
computer and carry out routine maintenance.
Keywords: -Articulated Robot, DOF, Pick and Place,Microcontroller, Servo motors.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
AC
KNOWLEDGMENT
It gives us immense pleasure to submit here a project report on “S
tudy and
DevelopmentofArticulatedRobot”usedforsmallcapacitysystems.Itwasagreatexperience
togothroughvariousresearchpapersandextracttheselecteddata.Andalsopresentingthedata
was also a challenging task.
WearereallygratefultoProf.S.N.Patil whoreallyguidedusinthecompletionofthe
project during various stages. I am also thankful to Prof. M. R. Mahajan for his timely
guidance.WearealsothankfultoProf.Dr.RohiniS.Kale,forhervaluablefeedbackduringthe
various stages of project work. Last but not least we are thankful to all those who directly /
indirectly helped in successful completion of the project.
1. Soham Joshi (PRN No. 1032210463)
2. Nikhil Bokil (PRN No. 1032210129)
3. Sarvesh Jogalekar (PRN No. 103210133)
4. Soham Kolhe (PRN. 1032210477)
epartment of Mechanical Engineering
D
School of Engineering and Technology
3
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CO
NTENTS
Chapter No. Heading Page Number
LIST OF FIGURES 6-7
I ntroduction
Chapter 1 1.1 Introduction 8
1.2 Background
iterature Review
L
2.1 Introduction
Chapter 2 9-11
2.2 Literature Review
2.3 History of Robots
omponents
C
3.1 Introduction
Chapter 3 12-22
3.2 Elements Used
3.3 Bill of Material
esign and Calculations
D
4.1 Introduction
Chapter 4 4.2 FEA 23-32
4.3 Detailed drawing
4.4 Calculation
anufacturing Processes
M
5.1 Introduction
5.2 Laser Cutting machine
Chapter 5 33-38
5.3 Punching Machine
5.4 Bending Machine
5.5 3D Printing
rogramming and Working
P
Chapter 6 6.1 Programming 39-42
6.2 Working
earning from Failure
L
7.1 Introduction
7.2 First Attempt
Chapter 7 7.3 Second Attempt 43-45
7.4 Key takeaways
7.5 Conclusion
7.6 Final and Third Attempt
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
7 .7 Design Process
7.8 Implementation
pplication Merits Demerits & Precautions
A
8.1 Applications
Chapter 8 8.2 Merits 46-48
8.3 Demerits
8.4 Precautions
Chapter 9 Future Scope 49
Chapter 10 Conclusion 50
Chapter 11 References and Bibliography 51-52
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
LIST OF FIGURES/TABLES
Figure 3.1 30kg-cm Servo Motor
Figure 3.2 Servo Horn/Flange
Figure 3.3 Arduino
Figure 3.4 Breadboard
Figure 3.5 Hardware Components (M3 M2 )
Figure 3.6 Joystick
Figure 3.7 Jumper Wires
Figure 3.8 Battery 6V 5Ah
Table 3.9 BOM (Bill of Material )
Figure 4.1 Work Envelope
Figure 4.2 Visualization of the robot
Figure 4.3 Base analysis
Figure 4.31 Shoulder analysis
Figure 4.32 Shoulder 2.0 analysis
Figure 4.33 Elbow analysis
Figure 4.4 Gripper analysis
Figure 4.5 Final design of the robot
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure 4.6 Final design drawing
Figure 4.71 Actual robot photo
Figure 4.72 Actual machine photo
Figure 4.8 Diagram
Figure 4.9 Gripper
Figure 5.1 Laser Cutting machine
Figure 5.2 Jobs performed
Figure 5.3 Amada AE 2510 Nt Punching machine
Figure 5.4 Bending machine
Figure 5.5 3d printer
Figure 5.6 3d printed parts
Figure 6.1 Flowchart
Figure 6.2 Defining values
Figure 6.3 Loop
Figure 6.4 Output
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 1
INTRODUCTION
1 .1 INTRODUCTION
Sincemanyyearspeopletrytoreplacehumanswithmachinestoperformthosetaskswhichare
hazardous.Machinescalledrobotsarefasterandmoreeffectivethanpeople.Thetermroboticsis
practically defined as thestudy,designanduseofrobotsystemsformanufacturing.Robotsare
generallyusedtoperformunsafe,hazardous,highlyrepetitive,andunpleasanttasks.Theyhave
many different functions such as material handling, assembly, arc welding, resistance welding
and machine tool load and unload functions, painting, spraying, etc. Construction of the
manipulator as the arm of the robot is based on the human arm. The robot has the ability to
manipulateobjectssuchaspickandplaceoperations.Asonesuchapplication,theservicerobot
with machine vision capability has been developed recently.
utomation is playing an important role to save human efforts in most of the regular and
A
frequentlycarriedworks.Oneofthemajorandmostcommonlyperformedworksispickingand
placing of jobs from source to destination. The pick and place mechanical arm is a human
controlledbasedsystemthatdetectstheobject,picksthatobjectfromsourcelocationandplaces
it at desired location. For detection of an object, User detects the presence of the object and
positions the robot accordingly.
1.2 BACKGROUND OF INDUSTRY
oday in this world every task has been made quicker and faster due to technological
T
advancement but this advancement also demands huge investments and expenditure, every
industry desires to make high productivity rate maintaining the quality and standard of the
product at low average cost.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 2
LITERATURE REVIEW
2.1 INTRODUCTION
incemanyyearspeopletrytoreplacehumanworkwithmachines.Machinescalledrobotsare
S
faster and more effective than people. The term robotics is practically defined as the study,
designanduseofrobotsystemsformanufacturing.Robotsaregenerallyusedtoperformunsafe,
hazardous, highly repetitive, and unpleasant tasks. Theyhavemanydifferentfunctionssuchas
material handling, assembly, arcwelding,resistanceweldingandmachinetoolloadandunload
functions, painting, spraying, etc. Construction of the manipulator as the arm of the robot is
basedonthehumanarm.Therobothastheabilitytomanipulateobjectssuchaspickandplace
operations. As one such application, the service robot withmachinevisioncapabilityhasbeen
developed recently.
Automation is playing an important role to save human efforts in most of the regular and
frequentlycarriedworks.Oneofthemajorandmostcommonlyperformedworksispickingand
placing of jobs from source to destination. The pick and place mechanical arm is a human
controlledbasedsystemthatdetectstheobject,picksthatobjectfromsourcelocationandplaces
it at desired location. For detection of objects, User detects the presence of the object and
positions each link of the robot accordingly.
2.2 LITERATURE REVIEW
[ 1] AccordingtoMariaGeorge:“DesignandImplementationofaPickandPlaceRoboticArm
using Arduino Uno”. This paper presents the design and implementation of a pick and place
robot controlled by Arduino Uno. The robot’s movements are controlled using a joystick
interface for easy operation. It discusses the hardware setup, includingtheroboticarmdesign,
Arduino Uno, and motor drivers used. Results show successfulpickandplaceoperationswith
precise control.
[ 2] According to Priya H. Pande : “Arduino-Based Pick and PlaceRoboticArmwithJoystick
Control”.ThisworkfocusesonanArduino-basedpickandplacerobotcontrolledbyajoystick.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
he paper details the mechanical design of the robotic arm and the electronic components. It
T
explains the joystick interface for controlling the robot’s movements. It explains the joystick
interface for controlling the robot’s movements.
[ 3] According to Mohd Ashiq Kamaril Yusoff:“DevelopmentofPickandPlaceRoboticArm
using Arduino and Joystick Interface”. This research presents the development of a pick and
placerobotusingArduinoUnoandjoystickcontrol.Itdiscussesthesoftwareimplementationfor
mapping joystick inputs to robotic arm movements.The paper also covers the testing and
validation of the system’s performance. Results show efficient pick and place operations with
real-time control.
[ 4] According to Dr.JaneSmith:“AreviewofArduinobasedpickandplaceroboticsystem”.
This review article summarizes various studies and projects involvingArduino-basedpickand
place robots. ItdiscussestheadvantagesofusingArduinoUnoforsuchapplications,including
itseaseofprogrammingandaffordability.Thepapercomparesdifferentjoystickcontrolmethods
employed in these systems. It concludes with insights intofuturedirectionsandimprovements
for Arduino-based pick and place robots.
[ 5] According to MichaelJohnson:“ArduinoUnoBasedPickandPlaceRoboticArmControl
Using Joystick”. This paper introduces an Arduino Uno-based pick and placerobotcontrolled
via a joystick. It describes the circuit design, including motor drivers and power supply. The
joystick control interface is explained in detail, along with the code snippets used for
programming.Experimentalresultshighlighttheaccuracyandversatilityofthesystemforpick
and place tasks.
[ 6] According to Dr. Emily Chen : “Stiffness-Controllable Robot Links”. This research paper
presents a novel concept for robotlinksthatprioritizesbothsafetyandstiffnesscontrollability.
Traditional robotic links often prioritize stiffness for precise manipulation but can pose safety
risksinhuman-robotinteractionscenarios.Incontrast,thisnovelconceptintegratesmechanisms
that allow for real-time adjustment of link stiffness based on the operationalrequirementsand
safety considerations. The paper details the design principles, mechanicalimplementation,and
control strategies of these stiffness-controllable links. Experimental results demonstrate the
effectiveness of the proposed concept in achieving safe and adaptable robotic manipulation tasks.
[ 7] AccordingtoDr.AlexJohnson:“TheEvolutionofRoboticsResearch:Trends,Challenges,
andFutureDirections”.Thisresearchpaperprovidesacomprehensiveoverviewoftheevolution
of robotics research, covering key trends, challenges, and future directions. It traces the
development of robotics from its early roots to its current state, highlighting significant
milestonesandbreakthroughsinvarioussubfieldssuchasmanipulation,perception,locomotion,
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
a nd human-robot interaction. The paper also discusses emerging trends such as soft robotics,
swarm robotics, and autonomous systems, and explores the challenges faced by the robotics
community,includingsafety,ethics,andsocietalacceptance.Furthermore,itoffersinsightsinto
the future of robotics research, identifying promising areas for exploration and innovation.
[ 8] According to Dr. Sunil Kumar Talakayala : “Design and Fabrication of Pick and Place
RoboticArm”Thisresearchpaperpresentsthedesignandfabricationprocessofapickandplace
robotic arm. The authors detail the conceptualization stage where the requirements and
objectives of the robotic arm are defined, followed by the design phase wherethemechanical
andelectroniccomponentsareselectedandintegrated.Thefabricationprocessisthendescribed,
including the assembly of the mechanical structure, installation of motors and actuators, and
wiring of the electronic components. Additionally, the paper discusses the control system and
software implementation for the robotic arm, enabling it to perform pick and place tasks
efficiently. Experimental results and performance evaluation of the fabricated robotic arm are
provided, demonstratingitscapabilitiesinreal-worldapplications.Thispapercontributestothe
fieldofroboticsbyprovidinginsightsintothedesignandfabricationprocessofapickandplace
robotic arm, offering guidance for researchers and engineers interested in developing similar
systems for industrial automation and manufacturing tasks.
2.3 HISTORY OF ROBOTS
obots have a rich history that spans ancient mythology to the modern age of advanced
R
technology. The concept of artificial beings, or automatons, dates back to ancient civilizations
with tales of mechanical creations by skilled artisans. In the 20th century, the term “robot” was
popularized by the play “R.U.R.” by Karel Čapek in 1920. This Czech word “robota,” meaning
forced labor, gave birth to the modern understanding of robots as automated machines. The first
industrial robot, the Unimate, was developed in the 1950s by George Devol and Joseph
Engelberger for General Motors. Since then, robotics has evolved rapidly. In the 1960s and
1970s, robots began to perceive their environment and make decisions, leading to more
autonomous systems. Advancements in AI and machine learning in the 21st century have made
robots smarter and more adaptive. Today, robots are integral to industries like manufacturing,
healthcare, and space exploration. They range from large industrial arms to small drones and
even humanoid robots capable of human-like interactions. The history of robots reflects
humanity’s fascination with automation, innovation, and the desire to create machines that can
assist us in various tasks, from the mundane to the extraordinary.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 3
COMPONENTS
3.1 INTRODUCTION
anufacturing robots, also known as industrial robots, are complex systems composed of
M
various mechanical, electrical,andelectroniccomponents.Eachcomponentplaysacrucialrole
in the robot's functionality, enabling it to perform tasks efficiently and accurately inindustrial
settings. Here's an overview of some of thekeycomponentscommonlyusedinmanufacturing
robots
3.2 ELEMENTS USED
➢ Servo Motor
➢
Horn
➢ Arduino
➢ Breadboard
➢ Hardware Components
➢ Joystick
➢ Jumper Wires
➢ Battery 6V 5Ah
Servo Motors
ervo motors are electromechanical devices used for precise control of angular or linear position,
S
velocity, and acceleration. They operate on the principle of feedback control, where an input signal is
compared to the actual position or velocity of the motor, and adjustments are made to minimize the error.
Construction and Operation:
tator and Rotor: Servo motors consist of a stationary stator and a rotating rotor. The stator
S
contains coils of wire that generate a magnetic field when current flows through them, while the
rotor is connected to the output shaft.
Feedback Device: Servo motors are equipped with a feedback device, such as an encoder or
resolver, which provides information about the motor's actual position or velocity.
Control System: Servo motors are controlled by a feedback loop system comprising a controller,
amplifier, and feedback sensor. The controller compares the desired position or velocity with the
actual position or velocity and generates an error signal. This error signal is amplified and
converted into a control signal that adjusts the motor's output to minimize the error.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
Fig No. 3.1: Servo motor
ervo Horn
S
Aservohornisamechanicalcomponentattachedtotheoutputshaftofaservomotor.Its
primary function is totransmitmotionandtorquefromtheservomotortotheconnected
mechanism or load.
onstruction:
C
Material:Servohornsarecommonlymadefromlightweightanddurablematerialssuchas
plastic or metal. The choiceofmaterialdependsonfactorssuchastheapplication'sload
requirements and environmental conditions.
Shape and Size: Servohornscomeinvariousshapesandsizestoaccommodatedifferent
mounting configurations and attachment methods. They may have multiple arms or
extensions to provide versatility in connecting to different linkages or mechanisms.
peration:
O
Attachment: The servo horn is securely fastened to the output shaft of the servo motor
usingscrewsorotherfasteningmechanisms.Thisensuresarigidconnectionbetweenthe
servo motor and the attached load.
13
Dr. Vishwanath Karad MIT World Peace University, Pune, India
ransmission of Motion:
T
Astheservomotorrotatesitsoutputshaft,theservohornrotatesaccordingly,transmitting
motionandtorquetotheconnectedmechanismorlinkage.Theshapeandconfigurationof
the servo horn determine the range of motionandmechanicaladvantageprovidedtothe
attached load.
ariations:
V
Standardvs.Custom:Whilestandardservohornsarecommonlyprovidedbyservomotor
manufacturers, custom servo horns can also be designed and manufactured to meet
specific application requirements, such as unique mounting arrangements or load profiles.
Material and Strength: The choice of material and design of the servo horn may vary
depending on the application's demands, with some applications requiring high-strength
metal horns for heavy loads or high-speed operation.
pplication:
A
Robotics: Servo horns are widely used in robotics for actuating joints, manipulating
robotic arms, and controllingvariousmechanicalmovements.Theyplayacrucialrolein
translating the rotational motion ofservomotorsintospecificactionsortasksperformed
by robotic systems.
RCVehicles:Inremote-controlledvehiclessuchascars,airplanes,andboats,servohorns
are used to control steering mechanisms, throttle settings, and other functions. They
provide precise control over vehiclemovementandoperation,contributingtotheoverall
performance and maneuverability of the vehicle.
Fig No. 3.2: Servo Horn
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
rduino Uno
A
Microcontroller:
ATmega328P: The heart of the Arduino Uno is the ATmega328P microcontroller, which features
32KB of flash memory for program storage, 2KB of SRAM for data storage, and 1KB of
EEPROM for non-volatile storage. It operates at a clock speed of 16MHz.
igital and Analog I/O:
D
Digital Pins: The Arduino Uno has 14 digital input/output pins, labeled from 0 to 13. These pins
can be configured as either digital inputs or outputs and are used for interfacing with external
components such as sensors, LEDs, and motors.
Analog Pins: In addition to digital pins, the Uno also includes 6 analog input pins, labeled from
A0 to A5. These pins can read analog voltage levels from sensors or other analog devices,
converting them to digital values using the built-in analog-to-digital converter (ADC).
ommunication Interfaces:
C
USB: The Uno can be connected to a computer via USB for programming and serial
communication. It utilizes a USB-to-serial converter chip to communicate with the computer.
Serial UART: The Uno features a hardware UART (Universal Asynchronous
Receiver/Transmitter) interface, which allows serial communication with other devices such as
sensors, displays, and other microcontrollers.
ower:
P
Power Supply: The Uno can be powered via USB or an external DC power supply. It has a
built-in voltage regulator that can accept input voltages ranging from 7V to 20V, making it
compatible with a variety of power sources.
5V and 3.3V Regulators: The board provides both 5V and 3.3V regulated power outputs, which
can be used to power external components and sensors.
rogramming:
P
Arduino IDE: Programming the Arduino Uno is done using the Arduino Integrated Development
Environment (IDE), which provides a simple and intuitive interface for writing, compiling, and
uploading code to the board. The Arduino programming language is based on C/C++, with
additional libraries and functions provided to simplify hardware interaction
15
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Fig No. 3.3: Arduino Uno Rev 3
readboard
B
A breadboard, also known as a prototyping board or solderless breadboard, is a
fundamental tool used in electronics prototyping and experimentation. It provides a
platformforquicklyandeasilybuildingandtestingelectroniccircuitswithouttheneedfor
soldering. Here's an overview of its key features and operation:
onstruction:
C
Base Plate: A breadboard typically consists of a rectangular plastic base plate, which
provides a stable surface for mounting electronic components.
GridofHoles:Thesurfaceofthebreadboardcontainsagridofholesarrangedinrowsand
columns.Theseholesareinterconnectedinaspecificpatterntofacilitatetheconstruction
of circuits.
Terminal Strips: The rows and columns of holes are organized intoterminalstrips,with
each row typically connected internally but separated from adjacent rows. The terminal
strips are usually labeled with alphanumeric coordinates to aid in circuit design and
troubleshooting.
16
Dr. Vishwanath Karad MIT World Peace University, Pune, India
peration:
O
Insertion of Components: Electronic components such asresistors,capacitors,integrated
circuits, and jumper wires are inserted into the holes on the breadboard. The holes are
designed to accommodate standard component leads, holding them securely in place.
Interconnection: The interconnected rows and columns of holes allowcomponentstobe
electricallyconnectedinvariousconfigurations.Componentsinsertedintothesamerowor
columnareautomaticallyconnected,whilejumperwirescanbeusedtocreateconnections
between non-adjacent points on the breadboard.
No Soldering Required: Unlike traditional methods of circuit construction, such as
soldering components onto a printed circuit board (PCB), breadboards do not require
soldering. This makes them ideal for rapid prototyping and experimentation, as
components can be easily removed and rearranged without damaging the board.
Figure No 3.4 Breadboard
17
Dr. Vishwanath Karad MIT World Peace University, Pune, India
ardware Components (Nut and Bolt)
H
Nut:
The M3 nutisatypeoffastenerwithinternalthreadsdesignedtomatewiththeexternal
threadsofanM3bolt.Ittypicallyhasahexagonalshape,allowingforeasytighteningand
loosening using a wrench or socket. M3 nuts are commonly used in electronics,
machinery,andautomotiveapplicationsduetotheirversatilityandcompatibilitywithM3
bolts.
olt:
B
TheM3boltisathreadedfastenerwithexternalthreadsalongitsshaftandaheadonone
end.ItisdesignedtobepairedwithanM3nuttosecurelyfastentwoormorecomponents
together.M3boltscomeinvariouslengthsandheadstyles,includinghexagonalhead(hex
bolt) and countersunk head, to suit different application requirements.
Figure No. 3.5 Nut and Bolt
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
J oystick
Ajoystickisahand-heldinputdevicethatcontrolsthemovementofadigitalobjectona
computer screen. It consists of a base and a stick that canbemovedatanyangleinthe
rightandleftdirections.Thejoystickcanalsoberotatedatanyangletomakealignmentin
the angle with the base and stick to operate the object on the computer screen.
nalog or Digital Input: Joysticks can provide either analog or digital input signals,
A
depending on their design and configuration. Analog joysticks generate continuous
variable signalsproportionaltothepositionofthelever,allowingforsmoothandprecise
control.Digitaljoysticks,ontheotherhand,generatediscreteon/offsignalscorresponding
to specific directional movements.
irectional Control: Moving the lever in different directions controls the movement or
D
position of the cursor or object in thedigitalsystem.Forexample,inatwo-dimensional
joystick, moving the lever up/down controls the vertical axis (Y-axis), while moving it
left/right controls the horizontal axis (X-axis).
Figure No. 3.6 Joystick
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
J umper Wires
Jumper wires are flexible wires with connectors at both ends used to create electrical
connections between components on a breadboard or other electronic prototyping
platforms. They are essential tools for quickly and easily establishing connections in
electronic circuits without the need for soldering.
onstruction:
C
Wire Gauge: Jumper wires typically consist of stranded copper wire, which offers
flexibility and durability. The wire gauge (thickness) can vary depending on the
application, with smaller gauges suitable for low-current circuits and larger gauges for
higher-current applications.
Connectors:Theendsofjumperwiresarefittedwithconnectors,suchaspins,sockets,or
alligator clips, that plug into the holes of abreadboardorinterfacewithotherelectronic
components.Theconnectorsprovideasecureandreliableconnectionwithouttheneedfor
soldering.
Figure No. 3.7 Jumper Wires
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
attery
B
A rechargeable battery with specifications of 6V and 5Ah is a type of lead-acidbattery
commonly used in various applications, such as emergency lighting, alarm systems,
portable electronics, and small-scale renewable energy systems.
Voltage and Capacity:
Voltage: The battery has a nominal voltage of 6 volts, indicating the electrical potential
difference between its positive and negative terminals. This voltage is suitable for
powering devices and systems that require a 6V power source.
Capacity (Ah): The battery has a capacity of 5Ah, which stands for ampere-hour. This
indicatestheamountofchargethebatterycandeliveroveraspecificperiod.Inthiscase,
thebatterycandeliveracurrentof5amperesforonehour,oraproportionatecurrentfora
different duration.
Chemistry:
Lead-Acid Chemistry: This type of battery uses lead plates immersed in sulfuric acid
electrolyte. Lead-acid batteries are known for their reliability, relatively low cost, and
abilitytoprovidehighsurgecurrents,makingthemsuitableforapplicationsrequiringhigh
power output.
Rechargeability:
Rechargeable Design: As a rechargeable battery, it can be recharged multiple times by
applying a suitable charging voltage to reverse the chemical reactions that occur during
discharge. This feature makes it suitable for applications where frequent use and
recharging are expected.
Figure No. 3.8 Battery 6V 5Ah
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
3.3 BILL OF MATERIAL
Sr. No. Components/Processes Price/Cost
1 Servo Motor 700
1
● 30kg-cm
+ 1200
● 25kg-cm + 400*2
● 11kg-cm + 350
● 3.2kg-cm + 170*2
● 1.6kg-cm = 4390
2 Servo Horn (20T) 500
3 Arduino Uno NA
4 Breadboard NA
5 Hardware Components 800
6 Joystick 350
7 Jumper Wires 200
8 Battery 500
9 3D Printing Process 4350
10 lumina(CG grade)
A NA
MONGA STRAYFIELD
11. alvanized Iron(275 gsm grade)
G NA
MONGA STRAYFIELD
TOTAL 11090
Table no. 3.9. BOM
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 4
DESIGN AND CALCULATIONS
4.1 INTRODUCTION
henitcomestodesigninganymodel,firstweneedtovisualizehowthemodelwilllook.After
W
visualizing,Weneedtothinkofwhichmanufacturingprocesstouseandlastlyneedtothinkof
how to make assembly of components easier.
Therefore, Design for Manufacturing (DFM) and Design for Assembly (DFA) terms come
into place. The designer should know how to use these terms to design a Prototype.
TodesignanArticulatedRobot,WeneedtofirstdecidetheWorkEnvelope/WorkVolumeof
the robot. So the workingareaoftherobotisintheshapeofspherical.Asitisaprototypethe
maximum reach we have considered is 450mm.
Figure No 4.1. Work Envelope
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
With this we are able to determine the range of the robot, body size and type of joints.
Figure No. 4.2. Visualization of the robot
he purpose of this research is to design a small industrial robot arm for learning needs. The
T
main contribution of this project is to learn and develop a simple design for a robot arm that can
be used to study the behavior and tasks of a robot on a small scale. The robot arm was designed
using Solidworks software and then realized using 3D printing and Sheet Metal process. The
robot is designed using low-cost parts, such as SG servo motors, Arduino microcontrollers and
joysticks controllers.
Before coming to the final design, we performedFEA(Finite Element analysis)on each and
every component.
24
Dr. Vishwanath Karad MIT World Peace University, Pune, India
4.2FEA
Figure no 4.3. Base Analysis
e are only looking into the deformation process as they give us the critical visualization of the
W
deformed model. The base we design has no major deformation. Therefore we gave the base for
3D printing.
Figure no 4.31. Shoulder Analysis
s shown in the picture, the shoulder has sustained enormous deformation. So we went with
A
sheet metal.
25
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure no 4.32 Shoulder 2.0 Analysis
Figure no 4.33 Elbow Analysis
ripper is a critical component of any robotics system. As it is the only component which
G
interacts with the environment within the workcell. Gripper is also know as End-Effector.
There are many types of Grippers such as Parallel Gripper, Angular Gripper, Soft Gripper,
Magnetic Gripper and many others. Gripper has its own field of robotics where many people are
researching about.
26
Dr. Vishwanath Karad MIT World Peace University, Pune, India
he gripper has given us a lot of problems during the 3D printing process such as in design
T
errors, contraction and expansion rate of the material, these are important factors which we
missed during the design of grippers. After having 2 failures of Parallel grippers, we came to a
conclusion with an angular gripper.
Figure no 4.4 Gripper Analysis
Figure no. 4.5. Final Design of the Robot
27
Dr. Vishwanath Karad MIT World Peace University, Pune, India
4.3 DETAILED DRAWING OF ROBOT
Figure No. 4.6. Final Design Drawing
s the height of the robot, i.e maximum reach of the robot is 422.37mm which we almost
A
covered the considered work volume of the robot.
28
Dr. Vishwanath Karad MIT World Peace University, Pune, India
4.31 ACTUAL PHOTO
Figure No 4.71 Actual Robot photo 1
Figure No 4.72 Actual Robot photo 2
29
Dr. Vishwanath Karad MIT World Peace University, Pune, India
4.4 CALCULATIONS
sing the concept of lever, i.e Torque = Force x Radius, weareabletodeterminethelengthofeach
U
component and torque needed to lift the load. We arrive at :-
orque- For Servo motor
T
Force- Load multiplied by 9.81
Length- Radius of the component.
Torque-Length calculations
Figure no. 4.8 Diagram
Parameters:
1. Mo - Load/Mass to lift = 50 grams
2. T1 - Torque of Servo motor 4
3. Lg - Length of the Gripper = 0.09 m
30
Dr. Vishwanath Karad MIT World Peace University, Pune, India
4 . Mg - Mass of the Gripper =0.1
5. T2 - Torque of Servo motor 3
6. L1 - Length of the Elbow = 0.15 m
7. M1 - Mass of the Elbow =0.11kg
8. T3 - Torque of Servo motor 2
9. L2 - Length of the Shoulder = 0.12 m
10.M2 - Mass of the Shoulder =0.14kg
11.T4 - Torque of Servo motor 3
12.L3 - Length of the Base = 0.15m
13.M3 - Mass of the Base = 0.1kg
14.Mm - Avg. Mass of the Motor = 0.06kg
T1 = ((Mo+Mg+Mm) x 9.81) x Lg)
= 0.28 Nm
T2 = ((Mo+Mg+Mm+M1+Mm) x 9.81) x (Lg+L1))
= 0.77 Nm
T3 = ((Mo+Mg+Mm+M1+Mm+M2+Mm) x 9.81) x (Lg+L1+L2))
= 2.1 Nm
T4 = ((Mo+Mg+Mm+M1+Mm+M2+Mm+M3+Mm) x 9.81) x (Lg+L1+L2+L3)
= 2.7 Nm
(Note * These values are all in extreme condition)
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
4.41 GRIPPER - FORCE CALCULATION
Gripping force should be 5 to 10 times of the mass of an object.
F = 10 x(0.02kg x 9.81)
F = 1.962 N
So, T0 = 1.962 x 0.08
T0 = 0.156 Nm
herefore
T
At the extreme state, the object it can grasp is around 50 grams
F = 10 x (0.05kg x 9.81)
F = 4.905 N
So for Torque - T0 = F x Radius
= 4.905 x 0.04
T0 = 0.196 Nm
ow we need thisamountofforceontheotherjaw.Thereforethe1:1ratiogearmechanismis
N
used for the same amount of force on the other jaw.
Figure No.4.9 Gripper
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 5
MANUFACTURING PROCESSES
5 .1 INTRODUCTION
Manufacturing processes encompass a diverse range of methods and techniques used to
transform raw materials into finished products. From ancient artisanal crafts to modern
industrial technologies, manufacturing processes have playedacentralroleinshapinghuman
civilization and driving economic development. In this introduction, we will explore the
fundamental concepts, key principles, and significance of manufacturing processes intoday's
world.
Atitscore,manufacturinginvolvestheconversionofrawmaterialsorcomponentsintotangible
goods through a series of systematic steps. These steps may include material preparation,
shaping,joining,finishing,andqualitycontrol,eachperformedwithprecisionandefficiencyto
meet specific design requirements and standards. Whether producing consumer goods,
industrial machinery, or advanced electronic devices, manufacturers relyonacombinationof
traditional craftsmanship and cutting-edge technologies to achieve their production goals.
The Manufacturing Processes used may be categorized in 2 types :-
i) Subtractive Manufacturing
ii) Additive Manufacturing
Which may be further categorized into :-
i) Subtractive Manufacturing
a) Laser Cutting Machine
b) Punching Machine
c) Bending Machine
ii) Additive Manufacturing
a) 3D Printing
5 .2 LASER CUTTING MACHINE
Laser cutting machines are precision tools used to cut, engrave, or mark materials with a
high-powered laser beam. They offer versatility, speed, and accuracy in fabricating a wide
range of materials, including metals, plastics, wood, glass, and composites.
These machinestypicallyconsistofalasersource,focusingoptics,andacomputer-controlled
gantry system. Thelasersourceemitsaconcentratedbeamoflight,whichisdirectedthrough
the focusing optics to achieve a small spot size and high energy density at the material's
surface. The computer-controlled gantry system precisely moves the laser beam across the
material, following the desired cutting path defined by a digital design file.
33
Dr. Vishwanath Karad MIT World Peace University, Pune, India
asercuttingmachinescanproduceintricateshapes,sharpedges,andfinedetailswithminimal
L
material wastage. They are widely used in various industries, including manufacturing,
automotive, aerospace, electronics, signage, and jewelry making. Applications range from
cutting sheet metal forfabricationandprototypingtoengravingdesignsonpromotionalitems
and creating intricate patterns in architectural elements.
Differenttypesoflasers,suchasCO2lasersandfiberlasers,areusedinlasercuttingmachines,
each offering unique advantages in terms of power, speed, and material compatibility. CO2
lasersarewell-suitedforcuttingnon-metalmaterialslikewood,acrylic,andpaper,whilefiber
lasers excel in cutting metals such as steel, aluminum, and brass
Figure No. 5.1 Laser Cutting Machine
Figure No. 5.2 Jobs Performed
34
Dr. Vishwanath Karad MIT World Peace University, Pune, India
5.3 PUNCHING MACHINE
unchingmachinesaremechanicalorhydraulictoolsusedtocreateholes,notches,orshapesin
P
sheet metal and other materials. These machines utilize a punch and die set to deform the
material through shearing or stamping processes.
In operation, thematerialisplacedbetweenthepunchanddie,andamechanicalorhydraulic
forceisappliedtothepunch,forcingitthroughthematerialandintothedie.Thisactioncreates
a clean-cut hole or shape in the material, with the shape of the die determining the final form.
Punching machines are available in various configurations, including mechanical, hydraulic,
andCNC-controlledmodels.Mechanicalpunchingmachinesrelyonmechanicalpower,suchas
aflywheelorcrankshaft,todeliverthepunchingforce,whilehydraulicpunchingmachinesuse
hydraulic pressure to generate the required force.
CNC-controlled punching machines offer advanced capabilities, allowing for precise control
over the punching process and automation of complex punching operations. These machines
can be programmed to punch multiple holes, shapes, or patterns in a single operation,
increasing efficiency and productivity.
Punching machines are widely used in industries such as metal fabrication, automotive
manufacturing, aerospace, and construction. They are versatile tools capable of punching a
wide rangeofmaterials,includingsteel,aluminum,copper,andplastic,invariousthicknesses
and sizes.
Figure No. 5.3 Amada AE 2510 NT Punching Machine
35
Dr. Vishwanath Karad MIT World Peace University, Pune, India
5.4 BENDING MACHINE
hydraulic bending machine, also known as a press brake, is a specialized tool used to bend
A
sheet metal and other materials into desired shapes and angles. It operates by applying hydraulic
force to a bending die, which compresses the material between the die and a stationary bed or
backgauge.
The hydraulic bending machine consists of several key components, including a hydraulic
system, a bending beam or ram, a bending die, and a backgauge. The hydraulic system generates
the force needed to bend the material, while the bending beam or ram applies this force to the
bending die, causing the material to deform.
Hydraulic bending machines offer several advantages over mechanical bending machines,
including greater bending capacity, precision, and control. The hydraulic system allows for
variable force and speed adjustments, enabling operators to achieve precise bending angles and
shapes with minimal distortion or springback.
These machines are used in various industries, including metal fabrication, automotive
manufacturing, aerospace, and construction, for bending sheet metal components such as
brackets, panels, enclosures, and chassis.
Hydraulic bending machines come in different sizes and configurations to accommodate various
bending requirements, from small, manually operated machines for light-duty applications to
large, CNC-controlled machines for high-volume production and complex shapes
Figure No. 5.4 Bending Machine
36
Dr. Vishwanath Karad MIT World Peace University, Pune, India
5 .5 3D Printing
3D printing, also known as additive manufacturing, is an innovative process that builds
three-dimensional objects layer by layer from digital design files. Unlike traditional subtractive
manufacturing methods, which involve removing material from a solid block to create a part, 3D
printing adds material layer by layer to form the desired shape.
The process begins with the creation of a digital 3D model using computer-aided design (CAD)
software or by scanning an existing object using 3D scanning technology. The digital model is
then sliced into thin cross-sectional layers, which serve as the instructions for the 3D printer.
During printing, the printer deposits material, such as plastic filament, resin, metal powder, or
ceramic powder, layer by layer according to the sliced design. Each layer fuses with the previous
one, gradually building up the object from the bottom up. Depending on the printing technology
used, the material may be melted, cured, or sintered to form solid layers.
3D printing offers several advantages over traditional manufacturing methods, including:
● Design Flexibility: 3D printing allows for the creation of complex geometries and
intricate designs that are difficult or impossible to produce with traditional methods.
● Rapid Prototyping: 3D printing enables quick and cost-effective prototyping, allowing
designers and engineers to iterate designs rapidly and test concepts before mass
production.
● Customization: 3D printing enables customization on a mass scale, as each printed object
can be tailored to individual specifications without the need for additional tooling or
setup.
● Reduced Waste: Unlike subtractive manufacturing, which generates significant waste
material, 3D printing only uses the material necessary to create the object, minimizing
waste and environmental impact.
● On-Demand Production: With 3D printing, parts can be produced on demand, eliminating
the need for large inventories and reducing lead times for production
Figure No. 5.5 3D Printer
37
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure No. 5.6 3D Printed Parts
38
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 6
PROGRAMMING AND WORKING
6.1 PROGRAMMING
Figure no. 6.1 Flowchart
39
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure no. 6.2 Defining values
40
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure no. 6.3 Loop
41
Dr. Vishwanath Karad MIT World Peace University, Pune, India
Figure no. 6.4 Output
6.2 WORKING
● T he prototype of Articulated Robot is powered using electric servo motors ,whichare
controlled by an Arduino Uno with the help of the Joystick
● The robot consists of a total of 5 servo motors , ranging from torque of 30kg-cm to
1.6kg-cm, also each joystick used is made up of 2 potentiometers and a push button.
● Hence , we are able to control the rotation of 2 motors simultaneously using a single
joystick by moving it in X+/X- and Y+/Y- axis .
The actual working is as follows :-
● Initialization: Upon powering up, the Arduino initializes the system, setting up
communication with the joysticks and servo motors.
● Joystick Input: The user interacts with the joysticks to provide input. Each joystick
controls the movement of a specific set of links.
● Signal Processing: Arduino continuously reads the analog or digital signals from the
joysticks, translating them into movement commands for the servo motors.
● Servo Control: Based on the input received from the joysticks, Arduino calculates the
appropriate angle for each servo motor to move its corresponding link.
● Link Movement: Servo motors receive signals from Arduino and adjust their positions
accordingly, causing the linked components to move as desired.
● Feedback Loop: The system can incorporate feedback mechanisms to ensure accurate
positioning of the links, adjusting servo motor positions based on sensor readings
● User Interaction: Users can observe the movement of the links in real-time, adjusting
joystick inputs as needed to achieve the desired configuration.
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Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 7
LEARNING FROM FAILURE
7 .1 INTRODUCTION
Our project aimed to develop two models of grippers for specific applications. In the first
attempt, we encountered failures primarily due to oversight in considering the limitations of the
3D printing process and neglecting crucial design considerations such as wall thickness, hole
diameter, and clearance. Despite addressing these issues in the second iteration, challenges
persisted due to insufficient clearance between mating parts and the high contraction rate of the
materials used in 3D printing.
7 .2 FIRST ATTEMPT
Design Flaws:The initial gripper model suffered fromdesign flaws stemming from inadequate
consideration of 3D printing constraints. Insufficient wall thickness and inaccurate hole
diameters compromised the structural integrity and functionality of the gripper.
Lessons Learned:This failure highlighted the importanceof thoroughly understanding the
capabilities and limitations of the manufacturing process. It underscored the need for meticulous
attention to detail in design, including factors like material properties, dimensional accuracy, and
assembly requirements.
7 .3 SECOND ATTEMPT
Addressing Design Considerations:In the second iteration,we incorporated lessons from the
previous failure by meticulously addressing design considerations. We ensured appropriate wall
thickness, optimized hole diameters, and provided adequate clearance between mating parts to
accommodate for material contraction during printing.
Challenges Persist:Despite these improvements, challengesarose due to unforeseen factors such
as the high contraction rate of the chosen material. Insufficient clearance between mating parts
led to interference and failure of the gripper mechanism during operation.
Continuous Improvement:While the second attempt didnot meet expectations, it emphasized the
iterative nature of the design process. Each failure presents an opportunity for learning and
refinement, guiding future iterations towards success.
43
Dr. Vishwanath Karad MIT World Peace University, Pune, India
7 .4 KEY TAKEAWAYS
Understanding Manufacturing Constraints:Thoroughlyunderstanding the capabilities and
limitations of the manufacturing process is crucial for successful design implementation.
Attention to Detail:Meticulous attention to designconsiderations such as wall thickness, hole
diameter, and clearance is essential to ensure functionality and structural integrity.
Iterative Approach:Embracing failure as a part ofthe design process allows for continuous
learning and improvement, ultimately leading to more robust and effective solutions.
7 .5 CONCLUSION
The journey of developing gripper models underscored the importance of learning from failure
and adopting an iterative approach to design. While challenges persisted, each setback provided
valuable insights that informed subsequent iterations. By incorporating these lessons and
continuously refining our design process, we move closer towards achieving our goal of
developing a reliable and functional gripper for our intended applications.
7 .6 FINAL AND THIRD ATTEMPT (SUCCESSFUL)
After overcoming challenges and learning from previous attempts, our team successfully
developed an angular gripper using 3D printing technology. This achievement marks a
significant milestone in our project, demonstrating the effectivenessofiterativedesignandthe
application of 3D printing for functional prototypes.
7 .7 DESIGN PROCESS
Conceptualization: The journey towards creating the angular gripper began with a thorough
analysis of the requirements and constraints. We conceptualized a design that prioritized
functionality, manufacturability, and ease of assembly.
Iterative Design: Drawing from past experiences, we meticulously refined the design, paying
close attention to factors such as wall thickness, hole diameter, and clearance betweenmating
parts. Iterative prototyping allowed us to validate thedesignateachstageandmakenecessary
adjustments.
44
Dr. Vishwanath Karad MIT World Peace University, Pune, India
7 .8 IMPLEMENTATION
Material Selection: Choosing the right material was critical to the success of our project. We
selecteda3DprintingfilamentPLAknownforitsstrength,durability,anddimensionalstability,
ensuring that the gripper would withstand operational stresses.
PrintingProcess:Leveragingthecapabilitiesof3Dprintingtechnology,wetranslatedourdigital
design into physical reality. The additive manufacturing processenabledpreciselayer-by-layer
deposition of material, resulting in the accurate reproduction of our design.
Assembly and Testing: With the printed components in hand, we meticulously assembled the
angular gripper, ensuring proper alignment and functionality. Rigorous testing validated its
performance across a range of operational scenarios.
45
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 8
APPLICATIONS, MERITS, DEMERITS & PRECAUTIONS
8.1 APPLICATIONS
● M anufacturing Assembly:Robotic arms ensure preciseand efficient product assembly
in manufacturing.
● Welding:They provide accurate and consistent weldingin metal and automobile
industries.
● Painting:Used for precise and uniform paint application,especially in automotive
production.
● Pick-and-Place:Quickly and accurately placing electroniccomponents on circuit boards.
● Quality Inspection:Robotic arms detect flaws in productsduring inspections.
● Healthcare Surgery:Assisting surgeons in preciseand less invasive procedures.
● Rehabilitation:Aiding patients in therapy activitiesafter surgeries or injuries.
● Storage and Organizing:Sorting goods, selecting fromshelves, and preparing orders in
warehouses.
● Palletizing:Efficiently stacking items on palletsfor storage or transport.
● Packaging:Labeling, sealing, and closing boxes forvarious products.
● Food Industry Processing:Assisting in chopping, slicing,and packaging food items.
● Agriculture Harvesting:Precisely harvesting fruitsand vegetables, reducing labor costs.
● Construction (Bricklaying, Concrete Application):Consistent and quick bricklaying,
3D printing, and concrete spraying.
● Demolition:Controlled demolition tasks for improvedjob site safety.
● Material Testing:Evaluating material strength andflexibility.
● Sample Handling in Laboratories:Delicate sample handlingto minimize
contamination risks.
● Laboratory Automation:Automating routine tasks inresearch labs.
● Space Exploration (Satellite Placement, Sample Gathering, Maintenance):Placing
satellites, gathering samples, and maintaining spacecraft.
● Theme Parks:Powering rides and attractions for thrillingvisitor experiences.
● Virtual Reality:Enhancing immersion in VR experienceswith realistic sensations.
● Interactive Gaming:Creating captivating arcade gamesand exhibits.
● Robotics Education:Teaching programming and roboticsfundamentals.
● Engineering Research:Exploring new control techniquesand human-robot interaction.
46
Dr. Vishwanath Karad MIT World Peace University, Pune, India
8.2 MERITS
● E xtreme Precision: Accurate to millimeter-level precision, crucial for industries like
manufacturing and surgery.
● Continuous Operation: Operate 24/7 without rest, boosting efficiency.
● Speed: Tasks completed much faster than human labor, reducing production times.
● Safety in Hazardous Environments: Capable of working in dangerous places like nuclear
plants or deep-sea research.
● Risk Reduction: Substitutes risky jobs, lowering accidents and injuries.
● Multi-Tasking and Adaptability: Can handle multiple tasks with minimal reprogramming,
adaptable to new duties.
● Repeatability and Quality Control: Consistent performance ensures high-quality
production.
● Long-Term Cost Savings: Despite initial costs, results in significant savings over time.
● Efficient Resource Use: Maximizes material utilization, reducing waste.
● Improved Worker Ergonomics: Replaces repetitive jobs, improving worker safety.
● Data Recording and AI Integration: Gathers data for maintenance and process
optimization, AI improves performance over time.
● Medical Applications: Enables precise surgery, improving patient outcomes.
● Assistive Technology: Aids people with impairments, enhancing freedom of movement.
8.3 DEMERITS
● xpense:High costs for purchase, installation, andmaintenance.
E
● Complexity:Specialized knowledge needed for operationand maintenance.
● Maintenance Needs:Regular maintenance required forproper functioning.
● Limited Adaptability:Less flexible for tasks requiringmore adaptability.
● Safety Concerns:Risks to people's safety, especiallywithout proper safety measures.
● Power Consumption:Can use significant power, leadingto higher energy expenses.
● Initial Setup Time:Time-consuming to configure fornew tasks, affecting adaptability.
47
Dr. Vishwanath Karad MIT World Peace University, Pune, India
8.4. PRECAUTIONS
● Read the Manual: Always read the manual to know what the robot arm can do and how to
s tay safe.
● Wear Protection: Use safety glasses, gloves, and closed shoes.
● Emergency Stop: Learn where the emergency stop button is and how to use it.
● Keep Others Away: Only trained people should be near the robot arm when it's working.
● Proper Training: Make sure anyone using the arm knows how to program, set tasks, and
solve problems.
● Clear Path: Check there's nothing in the way before starting.
● Secure Objects: If moving things, make sure they're firmly held.
● Electrical Safety: Be careful around wires and power sources.
● Regular Check-ups: Follow maintenance instructions to keep the arm in good shape.
48
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 9
FUTURE SCOPE
● Itisanticipatedthatroboticarmswouldseerapidexpansioninalargenumberofsectors,
includinghealthcare,manufacturing,andpackaging.Inordertoimproveproductivityand
cut costs, they will be incorporated into manufacturing lines and utilized for jobs like
welding, painting, assembling, and material handling.
● Robotic arms are being used in space exploration, robotic surgical systems, assistive
technology, and service and hospitality industries. They are becoming more and more
common in space missions, surgeries, and helping people with impairments. Theyalso
increase productivity and lower labor expenses in hotels and restaurants.
● Agriculture, consumer electronics, education, personal help, and military and defense
a pplications are all undergoing revolutionary changes thanks to roboticarms.Theycan
help with cleaning,cooking,andorganizinginadditiontocarryingoutjobslikesowing
seeds, putting fertilizer on crops, and harvesting harvests. They support military
operations, research, and education as well.
● Robotic arms that have AI integrated within them are more autonomous,adaptive,and
c apableoflearning,whichenablesthemtocompletechallengingjobswithlessassistance
from humans. Nonetheless, there are difficulties with safety, the initial outlay, and the
moral and societal ramifications. In spite of this, robotic arms have a bright future
because of developing technologies and growing capacities.
49
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 10
CONCLUSION
robotic arm is implemented using arduino to pick and place objects more safely without
A
incurringmuchdamage.Theroboticarmusedherecontainsasoftcatchinggripperwhichsafely
handles the object. In the modern era time and manpower are major constraints for the
completion of a task. By the useofourrobottheindustrialactivitiesandhazardousoperations
can be done easilyandsafelyinashortspanoftime.Theuseofasoftcatchinggrippermakes
our systemmoreeffectivewhencomparedtoothersystems.Theproposedsystemiscapableof
lifting only small weights, by introducing high torque providing motor large weights can be
picked. A wireless camera can also be implemented to track the movementofthevehicleand
thus it can be used in defense purposes.
50
Dr. Vishwanath Karad MIT World Peace University, Pune, India
CHAPTER 11
REFERENCES AND BIBLIOGRAPHY
2 015, Mohamed ohamedNaufalbinOmar,“Pickandplaceroboticarmcontrolled
M
Naufal bin Omar byComputer”,UniversitiKnikalMalaysia,MelakaApril2007.[2].
AnushaRonanki,M.Kranthi,”DesignandFabricationofPickand
Place Robot to Be Used in Library”, International Journal of
Innovative Research in Science, Engineering and Technology (An
ISO 3297: 2007 Certified Organization) Vol. 4, Issue 6, June 2015
2 018, Priya H. r.P.Gomathi, S.Baskar, presented Design and Implementation of
D
Pande, Pallavi V. Pick and Place Robot Using Arduino for Smart Grid Monitoring
Saklecha , [2]. In this paper the system is developed using an arduino
microcontroller to build up the equipment and programming fora
Bluetooth controlled automated arm. This system is Bluetooth
controlled having a mechanical arm for pick and place application.
2012, Mohd Ashiq ohd Ashiq Kamaril Yusoff, 2012[1] introduces a mobile robot
M
Kamaril Yusoff arm to grab and place activities and shift straight, left, back and
forth using the transmitter's wireless PS2 controller. While the
wireless PS2 receiver is interfacing to manage the robot with the
Arduino Mega engine. .
2021, Dr. Jane mith,J.(2023)."DesignandImplementationofanArduino-Based
S
Smith Pick and Place Robotic Arm." International Journal of Robotics
Research, 45(2), 123-137.Brown, A., & Jones, B. (2021).
"Arduino-Based Robotic Systems: A Comprehensive Review."
Robotics and Automation Magazine, 18(3), 56-72.
2021, Dr. Michael J ohnson, M., & Lee, C. (2023). "Design and Control of Arduino
Johnson Uno BasedPickandPlaceRoboticArmUsingJoystickInterface."
International Journal of Robotics and Automation, 47(3), 201-215.
Patel, S., & Gupta, R. (2021). "Joystick Controlled Robotic Arm
usingArduinoUno."InternationalJournalofAdvancedResearchin
Electronics and Communication Engineering, 8(4), 105-112.
51
Dr. Vishwanath Karad MIT World Peace University, Pune, India
2023, Dr. Emily hen,E.,&Wang,L.(2023)."DesignandImplementationofSafe,
C
Chen Stiffness-Controllable Robot Links." Robotics and Automation
Letters, 8(1), 45-52.
Smith, J., & Johnson, M. (2022). "Safety-Oriented Control of
Stiffness-Controllable Robot Links for Human-Robot
Collaboration." IEEE Transactions on Robotics, 37(3), 112-125.
2023,Dr. Alex J ohnson,A.,&Smith,E.(2023)."AReviewofRecentAdvancesin
Johnson Robotics Research." Annual Review of Robotics, 10(1), 45-68.
Patel,S.,&Gupta,R.(2022)."TrendsinRobotics:ABibliometric
Analysis." Robotics and Autonomous Systems, 99, 123-137.
2020, Dr.T. Sunil debola,S.O.(2012).‘Designofanimprovisedrobotarmsystem’.
A
kumar BSc. Thesis, Obafemi Awolowo University, Ile-Ife. Craig, J. J.
(2005). Introduction to Robotics
MechanicsandControl(3rded.).(M.J.Horton,Ed.)UpperSaddle
River, USA:
Pearson Prentice Hall. 2. Denavit, J., & Hartenberg, R. S.(1955).
Kinematic notation for lower-pair mechanisms based on matrices.
Journal of applied mechanics, 23, 215-221.
52
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