Professional Documents
Culture Documents
Vol.05,Issue.07,
March-2016,
Pages:1433-1441
www.ijsetr.com
Abstract: The project aims in designing a Robot arm which is operated using Bluetooth and also which is capable of Picking and
Placing of many objects. The advent of new high-speed technology and the growing Bluetooth Capacity provided realistic
opportunity for new robot controls and realization of new methods of control theory. This technical improvement together with
the need for high performance robots created faster, more accurate and more intelligent robots using new robots control devices,
new drivers and advanced control algorithms. This project describes a new economical solution of robot control systems. The
presented robot arm control system can be used for different sophisticated robotic applications. The modules in the project are:
Bluetooth interfaced to Microcontroller, Robot arm which is capable of Picking and placing objects, DC motors is attached to the
robot arm for the movement of the robot and Microcontroller which performs the controlling operations of Robot arm in Picking
and Placing of objects. The controlling device of the whole system is a Microcontroller to which Bluetooth; DC motors of robot
arm are interfaced through a motor driver. Whenever the appropriate keys are pressed in the android mobile app, the data is fed as
input to the controller. The Microcontroller checks the data with the program embedded in it and performs appropriate actions on
the robot arm. The Microcontroller is programmed using Embedded C language.
Keywords: Bluetooth Capacity, DC Motors, Microcontroller, Robot ARM.
I. INTRODUCTION
The project aims in designing a Robot arm which is
operated using bluetooth and also which is capable of Picking
and Placing of many objects. The advent of new high-speed
technology and the growing bluetooth Capacity provided
realistic opportunity for new robot controls and realization of
new methods of control theory. This technical improvement
together with the need for high performance robots created
faster, more accurate and more intelligent robots using new
robots control devices, new drivers and advanced control
algorithms. This project describes a new economical solution
of robot control systems. The presented robot arm control
system can be used for different sophisticated robotic
applications. The modules in the project are: bluetooth
interfaced to Microcontroller, Robot arm which is capable of
Picking and placing objects, DC motors is attached to the
robot arm for the movement of the robot and Microcontroller
which performs the controlling operations of Robot arm in
Picking and Placing of objects. The controlling device of the
whole system is a Microcontroller to which bluetooth; DC
motors of robot arm are interfaced through a motor driver.
Whenever the appropriate keys on mobile application then the
data will be transmitted through bluetooth to the
microcontroller. The Microcontroller checks the data with the
program embedded in it and performs appropriate actions on
the robot arm. The Microcontroller is programmed using
B. Resources
To save costs, embedded systems frequently have the
cheapest processors that can do the job. This means your
programs need to be written as efficiently as possible. When
dealing with large data sets, issues like memory cache misses
that never matter in PC programming can hurt you. Luckily,
this won't happen too often- use reasonably efficient
algorithms to start, and optimize only when necessary. Of
course, normal profilers won't work well, due to the same
reason debuggers don't work well. Memory is also an issue.
For the same cost savings reasons, embedded systems usually
Fig.3. Microcontrollers.
Microprocessors and microcontrollers are widely used in
embedded systems products. Microcontroller is a
programmable device. A microcontroller has a CPU in
addition to a fixed amount of RAM, ROM, I/O ports and a
timer embedded all on a single chip. The fixed amount of onchip ROM, RAM and number of I/O ports in microcontrollers
makes them ideal for many applications in which cost and
space are critical. The microcontroller used in this project is
PIC16F877A. The PIC families of microcontrollers are
developed by Microchip Technology Inc. Currently they are
some of the most popular microcontrollers, selling over 120
million devices each year. There are basically four families of
PIC microcontrollers:
PIC12CXXX 12/14-bit program word
PIC 16C5X 12-bit program word
PIC16CXXX and PIC16FXXX 14-bit program word
PIC17CXXX and PIC18CXXX 16-bit program word
D. Regulated Power Supply
Power supply is a supply of electrical power. A device or
system that supplies electrical or other types of energy to an
output load or group of loads is called a power supply
unit or PSU. The term is most commonly applied to electrical
energy supplies, less often to mechanical ones, and rarely to
others as shown in Fig.4. A power supply may include a
(1)
For example, if the secondary has half the primary turns;
the secondary will have half the primary voltage.
Step Up Transformer: In case of step up transformer,
primary windings are every less compared to secondary
winding. Because of having more turns secondary winding
accepts more energy, and it releases more voltage at the
output side.
Step Down Transformer: In case of step down transformer,
Primary winding induces more flux than the secondary
winding, and secondary winding is having less number of
turns because of that it accepts less number of flux, and
releases less amount of voltage.
Rectifiers: A rectifier is an electrical device that converts
alternating current (AC) to direct current (DC), a process
known as rectification. Rectifiers have many uses including as
components of power supplies and as detectors of radio
Fig.8. DB107.
Fig.10.Electrolytic Capaticor.
Units of Capacitance:
Microfarad (F) 1F = 1/1,000,000 = 0.000001 = 10 -6 F
Nanofarad (nF) 1nF = 1/1,000,000,000 = 0.000000001 = 10 9
F
Pico
farad (pF) 1pF
=
1/1,000,000,000,000
=
0.000000000001 = 10-12 F
Operation of Capacitor: Think of water flowing through a
pipe. If we imagine a capacitor as being a storage tank with an
inlet and an outlet pipe, it is possible to show approximately
how an electronic capacitor works as shown in Fig.10. First,
Fig.12. DC Motor.
The DC motor has two basic parts: the rotating part that
is called the armature and the stationary part that includes
coils of wire called the field coils. The stationary part is also
called the stator. Figure shows a picture of a typical DC
motor, Figure shows a picture of a DC armature, and Fig
shows a picture of a typical stator. From the picture you can
see the armature is made of coils of wire wrapped around the
core, and the core has an extended shaft that rotates on
bearings. You should also notice that the ends of each coil of
wire on the armature are terminated at one end of the
armature.
The
termination
points
are
called
the commutator, and this is where the brushes make electrical
contact to bring electrical current from the stationary part to
the rotating part of the machine.
Operation: The DC motor you will find in modem industrial
applications operates very similarly to the simple DC motor
described earlier in this chapter. Figs.12 to 14 shows an
electrical diagram of a simple DC motor. Notice that the DC
voltage is applied directly to the field winding and the
brushes. The armature and the field are both shown as a coil
of wire. When voltage is applied to the motor, current begins
to flow through the field coil from the negative terminal to the
positive terminal. This sets up a strong magnetic field in the
field winding. Current also begins to flow through the brushes
into a commutator segment and then through an armature coil.
The current continues to flow through the coil back to the
brush that is attached to other end of the coil and returns to
Fig.16.
V. RESULTS
The project Bluetooth operated pick and place robot
was designed to operate a Robot using bluetooth. The Robot
was used to operate using bluetooth and also which is capable
of Picking and Placing of many objects and results as shown
in Figs.15 to 20.
Fig. 17.
Fig.18.
Fig.19.
Fig.20.
VI. CONCLUSION & FUTURE SCOPE
Integrating features of all the hardware components used
have been developed in it. Presence of every module has been
reasoned out and placed carefully, thus contributing to the
best working of the unit. Secondly, using highly advanced
ICs with the help of growing technology, the project has
been successfully implemented. Thus the project has been
successfully designed and tested. Our project Bluetooth
operated pick and place robot is intended to control the
speed and direction of a Robot through a general purpose
bluetooth. Each key in bluetooth has a unique ASCII value.
Each operation is assigned a specific key. The ASCII value of
the key pressed is fed as input to the micro controller through
serial port which is interfaced to the DC motor through a
driver (L293D) which controls the speed as well as the
direction of Robot. The main drawback of this system is it
International Journal of Scientific Engineering and Technology Research
Volume.05, IssueNo.07, March-2016, Pages: 1433-1441