MICROCONTROLLER (AVR) BASED ROBOTIC ARM WITH GRIPPER

A PROJECT REPORT
Submitted by

M.BIMYA VIMIL MATHANA MANIKANDAN KRISHNAMURTHY R.G RAHUL KUMAR P.VIVEK

Under the guidance of

(0800808033) (0800808094) (0800808143) (0800808428)

Mrs.R.Radha ,Assistant Professor in partial fulfillment for the award of the degree of

BACHELOR OF ENGINEERING
IN

MECHANICAL ENGINEERING

HINDUSTAN UNIVERSITY, CHENNAI 603 103

APRIL 2012

MICROCONTROLLER (AVR) BASED ROBOTIC ARM WITH GRIPPER

A PROJECT REPORT
Submitted by

M.BIMYA VIMIL MATHANA MANIKANDAN KRISHNAMURTHY R.G RAHUL KUMAR P.VIVEK

Under the guidance of

(0800808033) (0800108010) (0800808143) (0800808428)

Mrs.R.Radha ,Assistant Professor in partial fulfillment for the award of the degree of

BACHELOR OF ENGINEERING
IN

MECHANICAL ENGINEERING

HINDUSTAN UNIVERSITY, CHENNAI 603 103

APRIL 2012

BONAFIDE CERTIFICATE

This is to certify that the project report MICROCONTROLLER (AVR) BASED ROBOTIC ARM WITH GRIPPER is the bonafide work done by M.BIMYA VIMIL MATHANA(0800108030),MANIKANDAN R.G RAHUL (0800108026) ,

KRISHNAMURTHY(0800108010),

P.VIVEK(0800808000) who carried out the project work under my supervision.

SIGNATURE Dr.HYACINTH.J.KENNADY HEAD OF THE DEPARTMENT Professor Mechanical Engineering

SIGNATURE MRS. R.RADHA SUPERVISOR Assistant Professor Mechanical Engineering

INTERNAL EXAMINER

EXTERNAL EXAMINER

Name: ________________________

Name: ________________________

Designation:_____________________

Designation:_____________________

Institution Name:___________________ Project Viva - voce conducted on ___________

ACKNOWLEDGEMENT
We are thankful to Hindustan Institute of Technology and Science, which has imparted us sufficient knowledge and confidence to become a Successful Engineer, and to complete Bachelor of Engineering Program of Hindustan University in the field of our specialization. We are grateful to Chancellor, Dr.Elizabeth Varghese and Vice Chancellor, Dr.Sarukeshi and Director of Academics, Dr. A. Joseph Stanley of our University for giving us an opportunity to enhance our knowledge in the aeronautical arena. We wish to express gratitude to Prof. Dr.Hyacinth j kennady, Head of Department, Department of Mechanical Engineering who has been kind enough to accord permission to us to do this work and giving us the good infrastructure in completing this project. We are greatly indebted to record our respect and deep sense of gratitude to our supervisor, Mrs R. Radha, Assistant Professor, Department of Mechanical Engineering for her valuable suggestion and guidance during the course of our study and project work. Heartfelt thanks to all the faculty members of Mechanical department for their guidance and assistance in completing this project successfully.

ABSTRACT The essential part of the robotic arm is a programmable microcontroller capable of driving basically three servo motors and a dc motor design to form an anthropomorphic structure. The arm is designed to pick and place objects with the help of a gripper which can hold the object and place it in the desired position. The system consists of an AVR ATMEGA328 microcontroller which controls the robotic arm movements. The robot workspace known as reachable space is all places that the end effectors (gripper) can reach. The workspace is dependant on the DOF angle/translation limitations, the arm link lengths, the angle at which object must be picked up at. The workspace is highly dependent on the robot configuration. The arm has 4 degrees of freedom this is achieved by employing servo motor in each joints of the arm. Servo motors a-re high in accuracy and degree of control in pulse width modulation. The arm is mounted on a base which can rotate 360 degree. One end of the arm is fixed on a base with a dc motor and other end is fixed with a gripper. The robotic arm is designed to hold a pay load of about 150g. The arm can be manually controlled using turning knob and a DPDT switch interfaced with microcontroller where the arm employs a custom designed controller board with an AVR ATMEGA328,with a (mc)7805 IC, electrolytic capacitor, disc capacitor,16mhz crystal oscillator, DPDT switch, push button switch, IN 4007 diode,SM-S4315M,VTS-08A servo motors for arm control by interfacing the AVR with the ARDUINO software.

TABLE OF CONTENTS CHAPTER ACKNOWLEDGEMENT ABSTRACT TABLE OF CONTENTS LIST OF FIGURES AND TABLES 1. Introduction 1.1Review of industrial robotic arm development 1.2 Project background 1.3 Problem statement 1.3.1 Material selection and consideration PAGE NUMBER iv v vi x 1 3 5 6 6

1.3.2 Electronic circuit design and software programming 6 1.4 Objective 1.4.1 Design and fabrication of the 4 dof robotic arm 1.4.2 Design and fabrication of controller circuit board 7 7 7

2.Literature Review 2.1 Components of a robot manipulator 2.1.1 Joints 2.1.2 Actuators 2.1.3 Controllers 2.2Robot Geometry

8 8 9 11

3. Methodolgy 3.1 Project Planning 3.2 Project Cost Planning 3.3 Hardware Selection 3.4 Procedures 3.4.1 Identifying Requirements 3.4.2 Design Of The Robotic Arm 3.4.3 Design Overview 3.4.4 Design Evaluation 3.5 Section Of Mechanical Components 3.5.1 Acrylic Sheets 3.5.1.1 Flexibility 3.5.1.2 Expansion & Contraction 3.5.1.3 Chemical Resistance 3.5.1.4 Electrical Properties 3.5.1.5 Light Transmission 3.5.1.6 UV Light Resistance 3.5.1.7 Optical Clarity 3.5.1.8 Weather Resistance 3.5.1.9 Light Weight

13 13 14 15 16 16 16 16 17 18 18 19 19 19 20 20 20 20 20 20

3.5.2 Hylam Sheets 3.5.3 AVR ATMEGA 328 3.5.3.1 Features 3.5.4 Servo Motors 3.5.4.1 Spring RC SM-54315M- High Torque Analog Servo 3.5.4.2 VTS 08A 3.5. Switches 3.5.5.1 DPDT(Dual Pole Double Throw) 3.5.5.2 Push Button Switch 3.5.6 16MHz Crystal Oscillator 3.5.7 IN 4007 Diode 3.5.7.1 Features 3.5.7.2 Mechanical Data 3.5.8 Capacitiors 3.5.8.1 Electrolytic Capcitor 3.5.8.2 Disc Capacitor 3.5.9 7805 IC With Heat Sink 3.5.9.1 Pin Description 3.5.9.2 Description 30

20 21 22 26

28 29

30 31 31 32 33 33 33 33 34 35 36 37

3.5.10 Potentiometer 3.5.11 Resistors 3.5.12 DC Motor 3.5.12.1 Features

37 39 40 42

4. DESIGN AND CONSTRUCTION 4.1 Free Body Diagram Of Robotic Arm 4.2 Torque Calculation Of Servo Motors 4.2.1 Parameters 4.2.2 Approximate Data 4.2.3 Formula 4.2.4 Calculation 4.3 Arm Mountring Base Construction 4.4 Shoulder Construction 4.5 Elbow Construction 4.6 Gripper Force Calculation 4.6.1 Formula 4.6.2 Calculation 4.7 Circuit Board Design 4.7.1 AVR Development board

43 43 44 44 44 44 44 46 47 50 51 51 51 52 52

4.7.2 Specific Purpose Design Circuit Board 4.7.3 Servo Controlling Circuit

52 53

5.SOFTWARE INTERFACING 5.1 ARDUINO Programming 5.2 AVR Program Dumping 5.2.1 Specifications 5.2.2 Advantages Of ARDUINO UNO

54 54 57 58 58

6. CONCLUSION 7.BIBLIOGRAPHY

59 60

LIST OF TABLE AND FIGURES