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Page 1
1

PROJECTREPORT
on

B.S.PATELPOLYTECHNIC,KHERVA
Projectgroup:
EnrollmentNo:
(1)PatelCharminRajendrakumar
(126440319065)
(2)ChavdaParthSureshbhai
(126440319076)
(3)ChauhanJayRakeshbhai
(126440319108)
(4)PatelRaviDineshbhai
(126440319117)
Internal/Externalguide:(1)Prof.K.P.Patel(H.O.D.)
(2)Mr.A.M.Patel

PICKANDPLACEROBOT
Page 2
2

Certificate
ThisistocertifythatMr.PatelCharminRajendrakumarhavingEnrolmentNo
:126440319065hascompletedPartIIDPProjectworkhavingtitlePICKAND
PLACEROBOT.Hehasundergonetheprocessofshodhyatra,literaturesurvey
andproblemdefinition.HeissupposedtocarryouttheresidueIDPPartII
workonsame
problemduringSemesterVIforthefinalfulfillmentoftheIDPworkwhichis
prerequisitetocompleteDiplomaEngineering.
GuideMr.A.M.Patel
H.O.D.Prof.K.P.Patel

Page 3
3

Certificate
ThisistocertifythatMr.ChavdaParthSureshbhaihavingEnrolmentNo
:126440319076hascompletedPartIIDPProjectworkhavingtitlePICKAND
PLACEROBOT.Hehasundergonetheprocessofshodhyatra,literaturesurvey
andproblemdefinition.HeissupposedtocarryouttheresidueIDPPartII
workonsame
problemduringSemesterVIforthefinalfulfillmentoftheIDPworkwhichis
prerequisitetocompleteDiplomaEngineering.
GuideMr.A.M.Patel
H.O.D.Prof.K.P.Patel
Page 4
4

Certificate
ThisistocertifythatMr.ChauhanJayRakeshbhaihavingEnrolmentNo
:126440319108hascompletedPartIIDPProjectworkhavingtitlePICKAND
PLACEROBOT.Hehasundergonetheprocessofshodhyatra,literaturesurvey
andproblemdefinition.HeissupposedtocarryouttheresidueIDPPartII
workonsame
problemduringSemesterVIforthefinalfulfillmentoftheIDPworkwhichis
prerequisitetocompleteDiplomaEngineering.
GuideMr.A.M.Patel
H.O.D.Prof.K.P.Patel
Page 5
5

Certificate
ThisistocertifythatMr.PatelRaviDineshbhaihavingEnrolmentNo
:126440319117hascompletedPartIIDPProjectworkhavingtitlePICKAND
PLACEROBOT.Hehasundergonetheprocessofshodhyatra,literaturesurvey
andproblemdefinition.HeissupposedtocarryouttheresidueIDPPartII
workonsame
problemduringSemesterVIforthefinalfulfillmentoftheIDPworkwhichis
prerequisitetocompleteDiplomaEngineering.
GuideMr.A.M.Patel
H.O.D.Prof.K.P.Patel

Page 6
6

INDUSTRYDEFINEDPROBLEM/PROJECT(IDP)STATEMENT
FORM
STUDENTPARTICULARS1
FIRSTNAME
Charmin
LASTNAME
Patel
MOBILENO.
18401163001
2
EMAIL
Charmin1997@yahoo.com
ENROLLMENTNO.126440319065
COLLEGENAMEB.S.PATELPOLYTECNIC,GANPATUNIVERSITY.
ADDRESS
66/SanskarBunglows,
Nr.RaghavGasAgency,
Vijapur.
BRANCH
MECHANICALENGINEERING
SEMESTER
5thSEM.
YEAR20142015
TEAMNAME
14
SIGNATUREOF
STUDENT
STUDENTPARTICULARS2
FIRSTNAME
Parth

Page 7
7
LASTNAME
Chavda
MOBILENO.
19978326421
2
EMAIL
Parth.chavda.319@facebook.com
ENROLLMENTNO.126440319076
COLLEGENAMEB.S.PATELPOLYTECNIC,GANPATUNIVERSITY.

ADDRESS
A/12Dharendranagarsociety,
Naroda,Ahamdabad
BRANCH
MECHANICALENGINEERING
SEMESTER
5thSEM.
YEAR20142015
TEAMNAME
14
SIGNATUREOF
STUDENT

Page 8
8
STUDENTPARTICULARS3
FIRSTNAME
Jay
LASTNAME
Chauhan
MOBILENO.
1.9586450846
2.
EMAIL
JAYRAKESH30@Gmail.com
ENROLLMENTNO.126440319108
COLLEGENAMEB.S.PATELPOLYTECNIC,GANPATUNIVERSITY.
ADDRESS
10,swapnabhumisociety,
Nr.Anandpurachokdi,
Vijapur
BRANCH
MECHANICALENGINEERING
SEMESTER
5thSEM.
YEAR20142015
TEAMNAME
14
SIGNATUREOF
STUDENT

Page 9
9
STUDENTPARTICULARS4
FIRSTNAME
Ravi

LASTNAME
Patel
MOBILENO.
1.8128282656
2.
EMAIL
Ravipatel0302@gail.com
ENROLLMENTNO.126440319117
COLLEGENAMEB.S.PATELPOLYTECNIC,GANPATUNIVERSITY.
ADDRESS
C2AnandColoni,
Nr.exp.highway,C.T.M.,
Ahamdabad
BRANCH
MECHANICALENGINEERING
SEMESTER
5thSEM.
YEAR20142015
TEAMNAME
14
SIGNATUREOF
STUDENT

Page 10
10

ABSTRACT
Mankindhasalwaysstrivedtogivelifelikequalitiestoitsartifactsinanattempttofind
substitutesforhimselftocarryouthisordersandalsotoworkinahostileenvironment.The
popularconceptofarobotisofamachinethatlooksandworkslikeahumanbeing.
TheindustryismovingfromcurrentstateofautomationtoRobotization,toincrease
productivityandtodeliveruniformquality.Theindustrialrobotsoftodaymaynotlookthe
leastbitlikeahumanbeingalthoughalltheresearchisdirectedtoprovidemoreandmore
anthropomorphicandhumanlikefeaturesandsuperhumancapabilitiesinthese.
Onetypeofrobotcommonlyusedinindustryisaroboticmanipulatororsimplyarobotic
arm.Itisanopenorclosedkinematicchainofrigidlinksinterconnectedbymovablejoints.
Insomeconfigurations,linkscanbeconsideredtocorrespondtohumananatomyaswaist,
upperarmandforearmwithjointatshoulderandelbow.Atendofarmawristjointconnects
anendeffectorwhichmaybeatoolanditsfixtureoragripperoranyotherdevicetowork.
Herehowapickandplacerobotcanbedesignedforaworkstationwhereloadingand
packingofleadbatteriesisbeenpresented.Allthevariousproblemsandobstructionsforthe
loadingprocesshasbeendeeplyanalyzedandbeentakenintoconsiderationwhiledesigning
thepickandplacerobot.
Page 11
11

SR.
NO.
TOPICSNAME
PAGENO.
1.IntroductionOfProject
13to17
2.ClassificationofRobot
18to19
3.SelectionofTask
20to22
4.DesignProcedure
23to28
5.StepsofDesigning
29to30
6.WorkstobeDone
31to32
7.Advantages
33to33
8.Disadvantages
34to34
9.Application
35to35
10.References
35to35
11.Estimation
36to36

INDEX
Page 12
12

LISTOFFIGURES&TABLES

FIGURES
1.1KEYCOMPONENTSOFROBOTS.
1.2ACTUATORS.
1.3SENSORS.
2.1INDUSTRIALROBOT.
2.2AGRICULTURALROBOT.
2.3TELEROBOT.
3.1PICK&PLACEROBOT.
3.2FLEXIBLEPACKAGING.
3.3CARTOONIGPROCESS.
3.4ROTARYCARTOONING.
3.5PALLETIZING&DEPALLETIZING.
3.6PICKANDPLACEROBOT.
3.7SEALINGROBOTS.
3.8BAGOPENINGROBOTS.
4.1GRAPHICALINTERFACEOFMATLABWORKSPACE.
5.1WORKSPACELAYOUT.
5.2DEGREEOFFREEDOM.
6.1INTERFACINGOFROBOTWITHCOMPUTER,
TABLES
1.1HISTORYOFROBOTS.
Page 13
13

CHAPTER1
INTRODUCTION

Roboticsisthebranchofengineeringscience&Technologyrelatedtorobots,and
theirdesign,manufacture,application,andstructuraldisposition.Roboticsisrelatedto
electronics,mechanics,andsoftware.Roboticsresearchtodayisfocusedondeveloping
systemsthatexhibitmodularity,flexibility,redundancy,faulttolerance,ageneraland
extensiblesoftwareenvironmentandseamlessconnectivitytoothermachines,some
researchersfocusoncompletelyautomatingamanufacturingprocessoratask,byproviding
sensorbasedintelligencetotherobotarm,whileotherstrytosolidifytheanalytical
foundationsonwhichmanyofthebasicconceptsinroboticsarebuilt.
Inthishighlydevelopingsocietytimeandmanpowerarecriticalconstrainsfor
completionoftaskinlargescales.Theautomationisplayingimportantroletosavehuman
effortsinmostoftheregularandfrequentlycarriedworks.Oneofthemajorandmost
commonlyperformedworksispickingandplacingofjobsfromsourcetodestination.
Presentdayindustryisincreasinglyturningtowardscomputerbasedautomation
mainlyduetotheneedforincreasedproductivityanddeliveryofendproductswithuniform
quality.Theinflexibilityandgenerallyhighcostofhardautomationsystems,whichhave
beenusedforautomatedmanufacturingtasksinthepast,haveledtoabroadbasedinterestin
theuseofrobotscapableofperformingavarietyofmanufacturingfunctionsinaflexible

environmentandatlowercosts.TheuseofIndustrialRobotscharacterizessomeof
contemporarytrendsinautomationofthemanufacturingprocess.However,presentday
industrialrobotsalsoexhibitamonolithicmechanicalstructureandclosedsystemsoftware
architecture.Theyareconcentratedonsimplerepetitivetasks,whichtendnottorequirehigh
precision.
Thepickandplacerobotisamicrocontrollerbasedmechatronicsystemthatdetects
theobject,picksthatobjectfromsourcelocationandplacesatdesiredlocation.Fordetection
ofobject,infraredsensorsareusedwhichdetectpresenceofobjectasthetransmitterto
receiverpathforinfraredsensorisinterruptedbyplacedobject.
1.1HISTORYOFROBOTS
Robotisawordthatisbothacoinagebyanindividualpersonandaborrowing.Ithas
beeninEnglishsince1923whentheCzechwriterKarelCapek'splayR.U.R.wastranslated
intoEnglishandpresentedinLondonandNewYork.R.U.R.,publishedin1921,isan
abbreviationofRossum'sUniversalRobots,robotitselfcomesfromCzechrobota,"servitude,
forcedlabor,"fromrab,"slave."TheSlavicrootbehindrobotaisorb,fromtheIndo
Europeanrootorbh,referringtoseparationfromone'sgrouporpassingoutofonesphereof
ownershipintoanother.CzechrobotaisalsosimilartoanotherGermanderivativeofthis
root,namelyArbeit,"work.Arbeitmaybedescendedfromawordthatmeant"slavelabor,"
andlatergeneralizedtojust"labor."
Page 14
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ThevariousdevelopmentsinthefieldofRoboticswiththeprogressinscientifictechnology
havebeenrevealedasfollows:
Date
Significance
RobotName
Inventor
First
century
A.D.and
earlier
Descriptionsofmorethan100machines
andautomata,includingafireengine,a
windorgan,acoinoperatedmachine,and
asteampoweredengine,inPneumatica
andAutomatabyHeronofAlexandria
Ctesibius,Philoof
Byzantium,Heron
ofAlexandria,and
others
1206
Createdearlyhumanoidautomata,
programmableautomatonband

Robotband,
handwashing
automaton
,automated
movingpeacocks
AlJazari
1495
Designsforahumanoidrobot
Mechanical
knight
LeonardodaVinci
1738
Mechanicalduckthatwasabletoeat,flap
itswings,andexcrete
DigestingDuck
Jacquesde
Vaucanson
1898
NikolaTeslademonstratesfirstradio
controlledvessel.
TeleautomationNikolaTesla
1921
Firstfictionalautomatonscalled"robots"
appearintheplayR.U.R.
Rossum's
UniversalRobots
KarelCapek
1930s
Humanoidrobotexhibitedatthe1939and
1940World'sFairs
Elektra
Westinghouse
Electric
Corporation
1948
Simplerobotsexhibitingbiological
behaviors
ElsieandElmer
WilliamGrey
Walter
1956
Firstcommercialrobot,fromthe
UnimationcompanyfoundedbyGeorge
DevolandJosephEngelberger,basedon

Devol'spatents
Unimate
GeorgeDevol
1961
Firstinstalledindustrialrobot.
Unimate
GeorgeDevol
1963
Firstpalletizingrobot
Palletizer
FujiYusokiKogyo
1973
Firstindustrialrobotwithsix
electromechanicallydrivenaxes
Famulus
KUKARobot
Group
1975
Programmableuniversalmanipulation
arm,aUnimationproduct
PUMA
VictorScheinman
TABLE1.1HISTORYOFROBOTS

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1.2LAWOFROBOTICS
IsaacAsimovconceivedtherobotsashumanoids,devoidoffeelings,andusedthemina
numberofstories.Hisrobotswerewelldesigned,failsafemachines,whosebrainswere
programmedbyhumanbeings.Anticipatingthedangersandhavocsuchadevicecould
cause,hepostulatedrulesfortheirethicalconduct.Robotswererequiredtoperform
accordingtothreeprinciplesknownasThreelawsofRoboticswhichareasvalidforreal
robotsastheywereforAsimovsrobotsandtheyare:
1.Arobotshouldnotinjureahumanbeingor,throughinaction,allowahumantobe
harmed.
2.ArobotmustobeyordersgivenbyhumansexceptwhenthatconflictswiththeFirst
Law.
3.ArobotmustprotectitsownexistenceunlessthatconflictswiththeFirstorSecond
law.
Theseareverygenerallawsandapplyeventoothermachinesandappliances.Theyare
alwaystakencareofinanyrobotdesign.
1.3WHATISANDWHATISNOTAROBOT?
Automationasatechnologyisconcernedwiththeuseofmechanical,electrical,
electronicandcomputerbasedcontrolsystemstoreplacehumanbeingswithmachines,not

onlyforphysicalworkbutalsofortheintelligentinformationprocessing.Industrial
automation,whichstartedintheeighteenthcenturyasfixedautomationhastransformedinto
flexibleandprogrammableautomationinthelast15or20years.Computernumerically
controlledmachinetools,transferandassemblylinesaresomeexamplesinthiscategory.
FIG1.1KEYCOMPONENTSOFAROBOT.

Page 16
16

Commonpeopleareeasilyinfluencedbysciencefictionandthusimaginearobotasa
humanoidthatcanwalk,see,hear,speak,anddothedesiredwork.Butthescientific
interpretationofsciencefictionscenariopropoundsarobotasanautomaticmachinethatis
abletointeractwithandmodifytheenvironmentinwhichitoperates.Therefore,itis
essentialtodefinewhatconstitutesarobot.Differentdefinitionsfromdiversesourcesare
availableforarobot.
1.4COMPONENTSOFROBOT:
1.STRUCTURE
Thestructure

ofarobotisusuallymostlymechanicalandcanbecalledakinematic
chain.Thechainisformedoflinks,actuators,andjointswhichcanallowoneormore
degreesoffreedom.Mostcontemporaryrobotsuseopenserialchainsinwhicheachlink
connectstheonebeforetotheoneafterit.Theserobotsarecalledserialrobotsandoften
resemblethehumanarm.Robotsusedasmanipulatorshaveanendeffectormountedonthe
lastlink.Thisendeffectorcanbeanythingfromaweldingdevicetoamechanicalhandused
tomanipulatetheenvironment.
2.POWERSOURCE
Atpresentmostly(leadacid)batteriesareused,butpotentialpowersourcescouldbe:
Pneumatic(compressedgases)
Hydraulics(compressedliquids)
Flywheelenergystorage
Organicgarbage(throughanaerobicdigestion)
Stilluntestedenergysources(e.g.NuclearFusion
reactors)
3.ACTUATION
Actuatorsarelikethe"muscles"ofarobot,theparts
whichconvertstoredenergyintomovement.Byfarthe
mostpopularactuatorsareelectricmotorsthatspina
wheelorgear,andlinearactuatorsthatcontrolindustrial
robotsinfactors.Buttherearesomerecentadvancesin
alternativetypesofactuators,poweredbyelectricity,
chemicals,orcompressedair.
4.TOUCH
Currentroboticandprosthetichandsreceivefarless
tactileinformationthanthehumanhand.Recentresearch
FIG1.2ACTUATORS
FIG1.3SENSORS

Page 17
17

hasdevelopedatactilesensorarraythatmimicsthemechanicalpropertiesandtouch
receptorsofhumanfingertips.Thesensorarrayisconstructedasarigidcoresurroundedby
conductivefluidcontainedbyanelastomericskin.Electrodesaremountedonthesurfaceof
therigidcoreandareconnectedtoanimpedancemeasuringdevicewithinthecore.Whenthe
artificialskintouchesanobjectthefluidpatharoundtheelectrodesisdeformed,producing
impedancechangesthatmaptheforcesreceivedfromtheobject.
5.VISION
Computervisionisthescienceandtechnologyofmachinesthatsee.Asascientific
discipline,computervisionisconcernedwiththetheorybehindartificialsystemsthatextract
informationfromimages.Theimagedatacantakemanyforms,suchasvideosequencesand
viewsfromcameras.
Inmostpracticalcomputervisionapplications,thecomputersarepreprogrammedto
solveaparticulartask,butmethodsbasedonlearningarenowbecomingincreasingly
common.
Computervisionsystemsrelyonimagesensorswhichdetectelectromagneticradiation
whichistypicallyintheformofeithervisiblelightorinfraredlight.Thesensorsare
designedusingsolidstatephysics.Theprocessbywhichlightpropagatesandreflectsoff
surfacesisexplainedusingoptics.Sophisticatedimagesensorsevenrequirequantum
mechanicstoprovideacompleteunderstandingoftheimageformationprocess.
6.MANIPULATION
Robotswhichmustworkintherealworldrequiresomewaytomanipulateobjects;pick
up,modify,destroy,orotherwisehaveaneffect.Thusthe'hands'ofarobotareoftenreferred
toasendeffectors,whilethearmisreferredtoasamanipulator.Mostrobotarmshave
replaceableeffectors,eachallowingthemtoperformsomesmallrangeoftasks.Somehavea
fixedmanipulatorwhichcannotbereplaced,whileafewhaveoneverygeneralpurpose
manipulator,forexampleahumanoidhand.
1

MechanicalGrippers:Oneofthemostcommoneffectorsisthegripper.Initssimplest
manifestationitconsistsofjusttwofingerswhichcanopenandclosetopickupandlet
goofarangeofsmallobjects.Fingerscanforexamplebemadeofachainwithametal
wireruntroughit.
2

VacuumGrippers:Pickandplacerobotsforelectroniccomponentsandforlarge
objectslikecarwindscreens,willoftenuseverysimplevacuumgrippers.Thesearevery
simpleastrictivedevices,butcanholdverylargeloadsprovidedthepretensionsurfaceis
smoothenoughtoensuresuction.
Page 18
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CHAPTER2

CLASSIFICATIONOFROBOTS

Industrialrobotsarefoundinavarietyoflocationsincludingtheautomobileand
manufacturingindustries.Robotscutandshapefabricatedparts,assemblemachineryand
inspectmanufacturedparts.Sometypesofjobsrobotsdo:loadbricks,diecast,drill,fasten,
forge,makeglass,grind,heattreat,load/unloadmachines,machineparts,handleparts,
measure,monitorradiation,runnuts,sortparts,cleanparts,profileobjects,performquality
control,rivet,sandblast,changetoolsandweld.
Outsidethemanufacturingworldrobotsperformotherimportantjobs.Theycanbefound
inhazardousdutyservice,CAD/CAMdesignandprototyping,maintenancejobs,fighting
fires,medicalapplications,militarywarfareandonthefarm.
2.1TYPESOFROBOTSASPERAPPLICATIONS
Nowadays,robotsdoalotofdifferenttasksinmanyfields.
Andthisnumberofjobsentrustedtorobotsisgrowingsteadily.
That'swhyoneofthebestwayshowtodividerobotsintotypesis
adivisionbytheirapplication.
2.1.1INDUSTRIALROBOTS:Robotstodayarebeingutilized
inawidevarietyofindustrialapplications.Anyjobthatinvolves
repetitiveness,accuracy,endurance,speed,andreliabilitycanbe
donemuchbetterbyrobots,whichiswhymanyindustrialjobs
thatusedtobedonebyhumansareincreasinglybeingdoneby
robots.
2.1.2MOBILEROBOTS:AlsoknownasAutomatedGuided
Vehicles,orAGVs,theseareusedfortransportingmaterialover
largesizedplaceslikehospitals,containerports,andwarehouses,
usingwiresormarkersplacedinthefloor,orlasers,orvision,to
sensetheenvironmenttheyoperatein.Anadvancedformofthe
AGVistheSGV,ortheSelfGuidedVehicle,likePatrolBot
Gofer,Tug,andSpeciMinder,whichcanbetaughtto
autonomouslynavigatewithinaspace.
2.1.3AGRICULTUREROBOTS:Althoughtheideaofrobots
plantingseeds,ploughingfields,andgatheringtheharvestmay
seemstraightoutofafuturisticsciencefictionbook,nevertheless
thereareseveralrobotsintheexperimentalstagesofbeingused
foragriculturalpurposes,suchasrobotsthatcanpickapples.
FIG2.1INDUSTRIALROBOT

FIG2.2AGRICULTURALROBOT
FIG2.3TELEROBOT

Page 19
19

2.1.4TELEROBOTS:Theserobotsareusedinplacesthatarehazardoustohumans,orare
inaccessibleorfaraway.Ahumanoperatorlocatedatadistancefromatelerobotcontrolsits
action,whichwasaccomplishedwiththearmofthespaceshuttle.Telerobotsarealsouseful
innuclearpowerplantswherethey,insteadofhumans,canhandlehazardousmaterialor

undertakeoperationspotentiallyharmfulforhumans.
2.1.5SERVICEROBOTS:TheJapaneseareintheforefrontinthesetypesofrobots.
Essentially,thiscategorycomprisesofanyrobotthatisusedoutsideanindustrialfacility,
althoughtheycanbesubdividedintotwomaintypesofrobots:one,robotsusedfor
professionaljobs,andthesecond,robotsusedforpersonaluse.Amongsttheformertypeare
theabovementionedrobotsusedformilitaryuse,andthentherearerobotsthatareusedfor
underwaterjobs,orrobotsusedforcleaninghazardouswaste,andthelike.
2.2TYPESOFROBOTSBYLOCOMOTION&KINEMATICS
Asyoucanunderstand,robot'sapplicationalonedoesnotprovideenoughinformation
whentalkingaboutaspecificrobot.Forexampleanindustrialrobotusually,whentalking
aboutindustrialrobotswethinkofstationaryrobotsinaworkcellthatdoaspecifictask.
2.2.1Cartesianrobot/Gantryrobot:Usedforpickandplacework,applicationofsealant,
assemblyoperations,handlingmachinetoolsandarcwelding.It'sarobotwhosearmhas
threeprismaticjoints,whoseaxesarecoincidentwithaCartesiancoordinator.
2.2.2Cylindricalrobot:Usedforassemblyoperations,handlingatmachinetools,spot
welding,andhandlingatdiecastingmachines.It'sarobotwhoseaxesformacylindrical
coordinatesystem.
2.2.3Spherical/Polarrobot:Usedforhandlingatmachinetools,spotwelding,diecasting,
fettlingmachines,gasweldingandarcwelding.It'sarobotwhoseaxesformapolar
coordinatesystem.
2.2.4SCARArobot:Usedforpickandplacework,applicationofsealant,assembly
operationsandhandlingmachinetools.It'sarobotwhichhastwoparallelrotaryjointsto
providecomplianceinaplane.
2.2.5Articulatedrobot:Usedforassemblyoperations,diecasting,fettlingmachines,gas
welding,arcweldingandspraypainting.It'sarobotwhosearmhasatleastthreerotary
joints.
2.2.6Parallelrobot:

Oneuseisamobileplatformhandlingcockpitflightsimulators.It'sa
robotwhosearmshaveconcurrentprismaticorrotaryjoints.
Page 20
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CHAPTER3
SELECTIONOFTASK
3.1TASKS
Thevarioustaskswhichapickandplacerobotcanperformareasfollows:
3.1.1Robotpickandplace
Theuseofrobotsforplacingproductsincartonsandtransfer
ofcartonsandproductsbetweendifferentstationsinthe
packaginglinesisverycommoninallindustries.Highspeed
pickandplacerobotsforplacingsmallitemslikecandyand
cookiesinpackagesareoftencombinedwithavisual
observationsystemforidentifyingproducts.
3.1.2Handlingofflexiblepackages

Flexiblepackagingmaterialisthegenerictermforsoft
packagesmadeoffilm,foilorpapersheeting.Popularforms
arestanduppouches,bags,sachetsandenvelopes.These
packagesareoftenformed,filledandsealedinaverticalor
horizontalformfillsealmachine.Thepackageisthenfinally
putintoacasebytoploading.
3.1.3Cartooningmachines
Cartooningmachineserectboxesfromflatsheetsof
corrugatedmaterial.Theerectedboxesarethenfilledwith
productsorindividualcartonsandarethenpreparedforthe
palletizingprocess.Aswithmostpackagingmachines,
vacuumcups,vacuumpumpsandotherpneumatic
componentsareanessentialpartofthecartooning.
3.1.4Rotarycartoners
Rotarycartonerisoneofthemostpopulartypesof
cartooningmachines.Thesemachinesuseaseriesofvacuum
barsequippedwithsuctioncupsthatmoveinacontinuous
rotarymotion.Rotarycartonersutilizea"pickandcarry"
motiontomovecartons.
FIG3.1PICK&PLACEROBOT
FIG3.2FLEXIBLEPACKAGING
FIG3.3CARTONINGPROCESS
FIG3.4ROTARYCARTONING

Page 21
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3.1.5PALLETIZINGANDDEPALLETIZING
Palletizingistheprocessofplacingpackagesonapallet
alternativelyremovingthemfromapallet(depalletizing).
Palletizingmachinesusevacuumpumps,suctioncupsand
otherpneumaticcomponents.Thesemachinestypicallypick
upmultipleboxesatatimeandplacethemonastack(or
removethemfromastack).
3.1.6AUTOMATEDPICK&PLACEROBOTS
Theuseofspecializedmachinesforhighspeedpickand
placeofsmallitemswithsuctioncupsisverycommoninthe
electronicsandconsumerindustries.Thisapplicationis
typicallycharacterizedbyshortcycletimes,high
accelerationforcesandlargevariationsonthepartstobe
handled.
3.1.7SEALMACHINES
Duringthepouch/bagformingphasevacuumisoftenapplied
totransportbeltsthathelpprovideagriponbothsidesofthe
pouch/bagmaterial.Thevacuumbeltmovesthepouch

materialfromawebrollintopositiontoreceivetheproduct
fromthefiller.Holesinthebeltallowvacuumtoholdthe
pouchwhilethebeltisrotatingandthepouchisbeen
removed.
3.1.8BAGOPENING
Vacuumandsuctioncupsareusedtopickandopenpaper
andplasticbags.Suctioncupswithstifferbellowsandasoft
sealingliparepreferredinthesequiteoftenhighspeed
applications.
FIG3.5PALLETIZING&
DEPALLETIZING
FIG3.6PICK&PLACE
FIG3.7SEALINGROBOTS
FIG3.8BAGOPENING
ROBOTS

Page 22
22

3.2SELECTIONOFTASK
Fromthevarioustaskswhichcanbedoneusingthepickandplacerobotswehave
particularlymeshedthetwoprocessofpicking&placingalongwithpallezting
process.
WehavedecidedtopickanAutomobileBattery(Dimensions45x45x65mm.Weight
250grams)fromtheconveyor.
Thenplacingitatthepackingcenter,alsopickingapackedbatteryfromthepacking
stationandmovingtowardstheBoxpackingcenter.
PlacingofBatteryatBoxpackingcenterandagainmovementtotheconveyortopick
anunpackedbattery.
Soboththepicking&placingalongwiththepackingprocedurecanbeaccompanied
usingthispickandplacerobot.
3.3WHYPICK&PLACEROBOTS
Wehaveselectedthepickandplacerobotsforthisparticularprocessduetothefollowing
reasons:
UsingofHumanlabourfortheloadingandunloadingoftheBatteriesandalsofor
packingpurposewillconsumemoretime.
EventhoughNumberoflaborersisrequiredmore,theloadingandunloadingtime
shouldincludeallowancesiflaborersareconsidered.
Moreovertheworkcanbedoneeasilyusingasinglepickandplacerobot,whichisused
forbothloadingandunloadingandpalleztingpurpose.
3.4DEFININGWORKSTATION
Theworkstationforthisoperationofpick&placeandpalleztingisbeendesignedinsucha
waythat:
Theunpackedbatterycomingfromthebeltconveyorisbeensensedbyasensorandthe
momentoftheconveyorisbeencontrolledbythesensor.

Asonebyonethebatterycomes,theRobotpicksonebatteryandmovestowardsthe
packingstation,keepsthebatteryontheconveyorthere.
ThenpicksthePackedBatteryfromthereandmovestowardstheBoxpackingcenter
andplacestheBatteryforBoxpackaging.
FurtherRobotmovementcontinuoustowardsthereturnjourneytakesaBatteryfrom
conveyorandagaintheaboveprocedureisbeencarriedout.
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23

CHAPTER4
DESIGNPROCEDURE
4.1FACTORSTOBECONSIDERED
Thevariousfactorstobeconsideredwhiledesigningofpickandplacerobotsarebeen
discussedasfollows.Thefactorsareallimportantwhiledesigningprocedureoftherobot.
4.1.1CONTROLS
Themechanical

structureofarobotmustbecontrolledtoperformtasks.Thecontrol
ofarobotinvolvesthreedistinctphasesperception,processing,andaction.Sensorsgive
informationabouttheenvironmentortherobotitself(e.g.thepositionofitsjointsoritsend
effector).Thisinformationisthenprocessedtocalculatetheappropriatesignalstothe
actuators(motors)whichmovethemechanical.
Theprocessingphasecanrangeincomplexity.Atareactivelevel,itmaytranslate
rawsensorinformationdirectlyintoactuatorcommands.Sensorfusionmayfirstbeusedto
estimateparametersofinterest(e.g.thepositionoftherobot'sgripper)fromnoisysensor
data.Animmediatetask(suchasmovingthegripperinacertaindirection)isinferredfrom
theseestimates.Techniquesfromcontroltheoryconvertthetaskintocommandsthatdrive
theactuators.
Atlongertimescalesorwithmoresophisticatedtasks,therobotmayneedtobuild
andreasonwitha"cognitive"model.Cognitivemodelstrytorepresenttherobot,theworld,
andhowtheyinteract.Patternrecognitionandcomputervisioncanbeusedtotrackobjects.
Mappingtechniquescanbeusedtobuildmapsoftheworld.Finally,motionplanningand
otherartificialintelligencetechniquesmaybeusedtofigureouthowtoact.Forexample,a
plannermayfigureouthowtoachieveataskwithouthittingobstacles,fallingover,etc.
4.1.2AUTONOMYLEVELS
Controlsystemsmayalsohavevaryinglevelsofautonomy.
1.Directinteractionisusedforhapticortaleoperateddevices,andthehumanhas
nearlycompletecontrolovertherobot'smotion.
2.Operatorassistmodeshavetheoperatorcommandingmediumtohighleveltasks,
withtherobotautomaticallyfiguringouthowtoachievethem.
3.Anautonomousrobotmaygoforextendedperiodsoftimewithouthumaninteraction.
Higherlevelsofautonomydonotnecessarilyrequiremorecomplexcognitive
capabilities.Forexample,robotsinassemblyplantsarecompletelyautonomous,but
operateinafixedpattern.

Page 24
24

Anotherclassificationtakesintoaccounttheinteractionbetweenhumancontrolandthe
machinemotions.
1.Teleportation:Ahumancontrolseachmovement;eachmachineactuatorchangeis
specifiedbytheoperator.
2.Supervisory:Ahumanspecifiesgeneralmovesorpositionchangesandthe
machinedecidesspecificmovementsofitsactuators.
3.Tasklevelautonomy:Theoperatorspecifiesonlythetaskandtherobotmanages
itselftocompleteit.
4.Fullautonomy:Themachinewillcreateandcompleteallitstaskswithouthuman
interaction.
4.1.3BASICMETHODSOFPROGRAMMINGROBOTS
TherearethreebasicmethodsforprogrammingIndustrialrobots

butcurrentlyover
90%areprogrammedusingtheteachmethod.
4.1.3ATeachMethod
Thelogicfortheprogramcanbegeneratedeitherusingamenubasedsystemor
simplyusingatexteditorbutthemaincharacteristicofthismethodisthemeansbywhich
theRobotistaughtthepositionaldata.AteachpendantwithControlstodrivetherobotina
numberofdifferentcoordinatesystemsisusedtomanuallydrivetherobottothedesired
locations.Theselocationsarethenstoredwithnamesthatcanbeusedwithintherobot
program.Thecoordinatesystemsavailableonastandardjointedarmrobotare:
JointCoordinates
Therobotjointsaredrivenindependentlyineitherdirection.
GlobalCoordinates
ThetoolcentrepointoftherobotcanbedrivenalongtheX,YorZaxesofthe
Robotsglobalaxissystem.Rotationsofthetoolaroundtheseaxescanalsobe
performed
ToolCoordinates
Similartotheglobalcoordinatesystembuttheaxesofthisoneareattachedtothe
toolcentrepointoftherobotandthereforemovewithit.Thissystemisespecially
usefulwhenthetoolisneartotheworkpiece.
WorkpieceCoordinates
Withmanyrobotsitispossibletosetupacoordinatesystematanypointwithinthe
workingarea.Thesecanbeespeciallyusefulwheresmalladjustmentstotheprogram
arerequiredasitiseasiertomakethemalongamajoraxisofthecoordinatesystem
thanalongageneralline.Theeffectofthisissimilartomovingthepositionand
orientationoftheglobalcoordinatesystem.
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25

4.1.3BLEADTHROUGH
Thissystemofprogrammingwasinitiallypopularbuthasnowalmostdisappeared.It

isstillhoweverusedbymanypaintsprayingrobots.Therobotisprogrammedbybeing
physicallymovedthroughthetaskbyanoperator.Thisisexceedinglydifficultwherelarge
robotsarebeingusedandsometimesasmallerversionoftherobotisusedforthispurpose.
Anyhesitationsorinaccuraciesthatareintroducedintotheprogramcannotbeeditedout
easilywithoutreprogrammingthewholetask.Therobotcontrollersimplyrecordsthejoint
positionsatafixedtimeintervalandthenplaysthisback.
4.1.3COFFLINEPROGRAMMING
SimilartothewayinwhichCADsystemsarebeingusedtogenerateNCprograms
formillingmachinesitisalsopossibletoprogramrobotsfromCADdata.TheCADmodels
ofthecomponentsareusedalongwithmodelsoftherobotsbeingusedandthefixturing
required.Theprogramstructureisbuiltupinmuchthesamewayasforteachprogramming
butintelligenttoolsareavailablewhichallowtheCADdatatobeusedtogeneratesequences
oflocationandprocessinformation.Atpresentthereareonlyafewcompaniesusingthis
Technologyasitisstillinitsinfancybutitsuseisincreasingeachyear.Thebenefitsofthis
formofprogrammingare:
Reduceddowntimeforprogramming.
Programmingtoolsmakeprogrammingeasier.
Enablesconcurrentengineeringandreducesproductleadtime.
4.1.4PROGRAMMINGLANGUAGES
4.1.4AKAREL
Karelisaneducationalprogramminglanguage,createdbyRichardE.Pattisinhis
bookKareltheRobot:AGentleIntroductiontotheArtofProgramming.Thislanguage
wasfirstusedincoursesatStanfordUniversity.ThelanguageisnamedafterKarelCapek,
Principles
AprograminKarelisusedtocontrolasimplerobotthatlivesinanenvironment
consistingofagridofstreetsandavenues.Karelunderstandsfivebasicinstructions:
1.move(Karelmovesbyonesquareinthedirectionheisfacing),
2.turnleft(Karelturns90left),
3.putbeeper(Karelputsabeeperonthesquareheisstandingat),
4.pickbeeper(Karelliftsabeeperoffthesquareheisstandingat),
5.Turnoff(Karelswitcheshimselfoff,theprogramends).
Page 26
26

4.1.4BVISUALLANGUAGE
ThesoftwaresystemfortheLegoMindstormsNXTrobotsisworthyofmention.Itis
basedonandwrittenbyLabview.

Theapproachistostartwiththeprogramratherthanthe
data.Theprogramisconstructedbydraggingiconsintotheprogramareaandaddingor
insertingintothesequence.Foreachiconyouthenspecifytheparameters(data).For
exampleforthemotordriveiconyouspecifywhichmotorsandbyhowmuchtheymove.
WhentheprogramiswrittenitisdownloadedintotheLegoNXT'brick'(microcontroller)for
test.
4.1.4CSCRIPTINGLANGUAGE

Ascriptinglanguage

isahighlevelprogramminglanguagethatisusedtocontrolthe
softwareapplication,andisinterpretedinrealtime,or"translatedonthefly",insteadof
beingcompiledinadvance.Ascriptinglanguagemaybeageneralpurposeprogramming
languageoritmaybelimitedtospecificfunctionsusedtoaugmenttherunningofan
applicationorsystemprogram.Somescriptinglanguages,suchasRoboLogix,havedata
objectsresidinginregisters,andtheprogramflowrepresentsthelistofinstructions,
orinstructionset,thatisusedtoprogramtherobot.
Programminglanguagesaregenerallydesignedforbuildingdata
structuresandalgorithmsfromscratch,whilescriptinglanguagesareintendedmorefor
connecting,orgluing,componentsandinstructionstogether.Consequently,thescripting
languageinstructionsetisusuallyastreamlinedlistofprogramcommandsthatareusedto
simplifytheprogrammingprocessandproviderapidapplicationdevelopment.
4.1.4.DPARALLELLANGUAGE
Anotherinterestingapproachisworthyofmention.Allroboticapplicationsneed
parallelismandeventbasedprogramming.Parallelismiswheretherobotdoestwoormore
thingsatthesametime.Thisrequiresappropriatehardwareandsoftware.Mostprogramming
languagesrelyonthreadsorcomplexabstractionclassestohandleparallelismandthe
complexitythatcomeswithit,likeconcurrentaccesstosharedresources.URBIprovidesa
higherlevelofabstractionbyintegratingparallelismandeventsinthecoreofthelanguage
semantics.
4.1.4.EMATLABS
ThenameMATLABstandsforMATrixLABoratory.MATLABwaswritten
originallytoprovideeasyaccesstomatrixsoftwaredevelopedbytheLINPACK(linear
systempackage)andEISPACK(Eigensystempackage)projects.
MATLABisahighperformancelanguagefortechnicalcomputing.Itintegrates
computation,visualization,andprogrammingenvironment.Furthermore,MATLABisa
modernprogramminglanguageenvironment:ithassophisticateddatastructures,contains
builtineditinganddebuggingtools,andsupportsobjectorientedprogramming.These
factorsmakeMATLABanexcellenttoolforteachingandresearch.
Page 27
27

MATLABhasmanyadvantagescomparedtoconventionalcomputerlanguages(e.g.
C,FORTRAN)forsolvingtechnicalproblems.MATLABisaninteractivesystemwhose
basicdataelementisanarraythatdoesnotrequiredimensioning.
Ithaspowerfulbuiltinroutinesthatenableaverywidevarietyofcomputations.It
alsohaveeasytousegraphicscommandsthatmakethevisualizationofresultsimmediately
available.Specificapplicationsarecollectedinpackagesreferredtoastoolbox.Thereare
toolboxesforsignalprocessing,symboliccomputation,controltheory,simulation,
optimization,andseveralotherfieldsofappliedscienceandengineering.
4.1.4FCLANGUAGE
Asaprogramminglanguage,CisratherlikePascalorFortran.Valuesarestoredin
variables.Programsarestructuredbydefiningandcallingfunctions.Programflowis
controlledusingloops,ifstatementsandfunctioncalls.Inputandoutputcanbedirectedto

theterminalortofiles.Relateddatacanbestoredtogetherinarraysorstructures.Ofthe
threelanguages,Callowsthemostprecisecontrolofinputandoutput.Cisalsorathermore
tersethanFortranorPascal.Thiscanresultinshortefficientprograms,wherethe
programmerhasmadewiseuseofC'srangeofpowerfuloperators.
FIG4.1GRAPHICALINTERFACETOMATLABWORKSPACE.

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28

4.1.4GC++LANGUAGE
C++isalsothelanguagefromwhichbothJavaandC#arederived.Simplystated,to
beaprofessionalprogrammerimpliescompetencyinC++.Itisthegatewaytoallofmodern
programming.ThepurposeofthismoduleistointroduceC++,includingitshistory,its
designphilosophy,andseveralofitsmostimportantfeatures.Byfar,thehardestthingabout
learningaprogramminglanguageisthefactthatnoelementexistsinisolation.Instead,the
componentsofthelanguageworktogether.Thisinterrelatednessmakesitdifficulttodiscuss
oneaspectofC++withoutinvolvingothers.Tohelpovercomethisproblem,thismodule
providesabriefoverviewofseveralC++features,includingthegeneralformofaC++
program,somebasiccontrolstatements,andoperators.Itdoesnotgointotoomanydetails,
butratherconcentratesonthegeneralconceptscommontoanyC++program.
4.1.4HVISUALBASIC.NET
VisualBasic2008isadevelopmenttoolthatyoucanusetobuildsoftware
applicationsthatperformusefulworkandlookgreatwithinavarietyofsettings.Using
VisualBasic2008,youcancreateapplicationsfortheWindowsoperatingsystem,theWeb,
handhelddevices,andahostofotherenvironmentsandsettings.Themostimportant
advantageofVisualBasicisthatithasbeendesignedtoincreaseproductivityinyourdaily
developmentworkespeciallyifyouneedtouseinformationindatabasesorcreatesolutions
fortheInternetbutanimportantadditionalbenefittisthatonceyoubecomecomfortable
withthedevelopmentenvironmentinMicrosoftVisualStudio2008,youcanusethesame
toolstowriteprogramsforMicrosoftVisualC++2008,MicrosoftVisualC#2008,Microsoft
VisualWebDeveloper2008,andotherthirdpartytoolsandcompilers.
4.1.5SAFETYREQUIREMENTS
Thevarioussafetyrequirementswhichwereconsideredwhiledesigningtherobotare
decidedasfollows:
1.TheRobotshouldnotbeprogrammedsuchthatitshoulddamagetheBatterywhile
holdingitinitsgripper.
2.Correctholdingpositionshouldbesetasifitnotsetthenwhilemovementofthe
RobotitmaydroptheLeadBatterieswhichcanariseaHazardoussituationinthe
industry.
3.TheRobotshouldbeinterfacedproperlywiththesensorsbeenplacedneartheBelt
conveyorsoastoknowwhenthebeltconveyoristobestoppedortobestartedto
movethebatteriesahead.
4.Loadcarryingcapacityshouldbemaintainedasitshouldbealwaysmorethanthe
defaultloadwhichistobeshifted.

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29

CHAPTER5
STEPSOFDESIGN
5.1SELECTIONOFPRODUCT
FromthenumberofproductsavailableweselectedtheBatteryofautomobilesfor
beenusedinourproject.Wehadnumberofoptionsfortheselectionofproduct,asperour
requirementtheBatterywasmatchingtheconditions.Theotherproductswhichwe
consideredwereasfollows:
BEARING:Duetoradialcrosssectionofthebearing,itwouldbelittlebitdifficult
fortheRobotGrippertoholdthebearinginitandtransportfromoneplacetoanother
holdingit.Sowerejectedthisproduct.
BAGSOFIRONORE:Thefinesbaggingsystemwaspredecidedbutduetothe
weightlimitweswitchedovertheotherproducts.
CELLPHONEPACKING:AsduetothelightandsensitivepartsoftheCell
phoneswealsoskippeditastherearechancesofcausingdamagetotheCellphones
whileholdinginthegrippersoftheRobots.
BOTTLEPACKING:Theradialshapeofthebottleswasnotabletogripinsidethe
grippersoftherobots.Thoughpickandplacerobotsareusedinbottlepacking
industriesbuttheyarebeendesignedverypreciselyandarecostlysoasthegrippers
aretobesuchthatitcanholdthebottlesandmovetowardsthedecidedtarget.
5.2DESIGNINGOFWORKSPACE
Thedesigningofworkspacehavebeendonebykeepingfollowingpointsinmind:
1.ItshouldutilizeMinimumtimefordoingthejob.
2.Noobstructionsshouldbethereinbetweentheworkspaceenvelope.
3.Idletimeshouldbereducedasmuchaspossible.
4.EfficientandsafetransportationoftheBatteriesshouldbeundergone.
ThedesignofworkspaceincludesaBeltconveyorwhichbringsthechargedbatteries
fromtheplantanditisbeentransferredtothePackingcentreUsingtheRoboticarm.Thereis
momentof90degrees;therobotpicksapackedBatteryfromthepackedcentreafterplacing
theunpackedBattery.ThentherobotsproceedtowardstheBoxpackingcentrewhereit
unloadstheBatteryandfurthermovestowardstheBeltconveyortorepeatthesame
procedure.
Page 30
30

5.3DEGREEOFFREEDOM
ThenumberofDOFthata
manipulatorpossessesisthenumberof
independentpositionvariablesthatwould
havetobespecifiedinordertolocateall
partsofthemechanism;itreferstothe
numberofdifferentwaysinwhicharobot

armcanmoveintheparticulardirection.
Inthecaseoftypicalindustrial
robots,becauseamanipulatorisusuallyan
openkinematicchain,andbecauseeachjoint
positionisusuallydefinedwithasingle
variable,thenumberofjointsequalsthe
numberofdegreesoffreedom.
Wecanusethearmtogettheideaof
degreesoffreedom.Keepingthearm
straight,movingitfromshoulder,wecan
moveinthreeways.Upanddown
movementiscalledpitch.Movementtothe
rightandleftiscalledyaw.Byrotatingthe
wholearmasscrewdriveriscalledroll.The
shoulderhasthreedegreesoffreedom.They
arepitch,yawandroll.
Movingthearmfromtheelbowonly,holdingtheshoulderinsameposition
constantly.Theelbowjointhastheequivalentofpitchinshoulderjoint,thustheelbowhas
onedegreeoffreedom.Nowmovingthewriststraightandmotionless,wecanbendthewrist
andupanddown,sidetosideanditcanalsotwistalittle.Thelowerarmhasthesamethree
degreesoffreedom.Thustherobothastotallysevendegreesoffreedom.Threedegreesof
freedomaresufficienttobringtheendofarobotarmtoanypointwithinitsworkspace,or
workenvelopeinthreedimensions.
FIG5.2DEGREEOFFREEDOM.

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31

CHAPTER6
WORKSTOBEDONE
6.1SELECTIONOFPARTS
Variouscomponentsofappropriatespecificationsshouldbeselectedsoasto
completethefabricationandassemblyoftheRobot.Iftheselectionisnotdoneproperly
thentheproperworkingoftherobotcannotbeobtained.Itincludesthepartslike
selectionofactuators,motors,sensorsetc.Thustheselectionprocedureofvarious
componentsisalsoanimportantissuefortheprojectwork.
6.2COMPLETIONOFMODEL
Futureworkistofabricateandmanufacturethecompletebodystructureoftherobot,
thentheassemblyofallthemanufacturedpartsaretobedonesothattherequiredloadis
liftedandbeentransportedtothetargetedplace.
6.3PROGRAMMING
ProgrammingofthePickandplaceRobotistobedoneusingasuitableProgramming
Language.TheRobotistobeeninterfacedwiththecomputerbytheprogrammedsoftware,
whichwillguidetherobottodoitsjobforwhichitisbeenprogrammed.Therearenumbers

ofvariousprogramminglanguagesavailablenowadaysinthemarket,sotheappropriate
programminglanguageistobeselectedfortheprogrammingpurposeandtheprogramming
istobedone.
FIG6.1BLOCKDIAGRAMOFINTERFACINGOFROBOTWITHCOMPUTER.

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32

6.4INTERFACINGWITHTHECOMPUTER
Intheindustrialdesignfieldofhumanmachineinteraction,theuserinterfaceiswhere
interactionbetweenhumansandmachinesoccurs.Thegoalofinteractionbetweenahuman
andamachineattheuserinterfaceiseffectiveoperationandcontrolofthemachine,and
feedbackfromthemachinewhichaidstheoperatorinmakingoperationaldecisions.
Auserinterfaceisthesystembywhichpeople(users)interactwithamachine.Theuser
interfaceincludeshardware(physical)andsoftware(logical)components.Userinterfaces
existforvarioussystems,andprovideameansof:
Input,allowingtheuserstomanipulateasystem,
Output,allowingthesystemtoindicatetheeffectsoftheusers'manipulation
Aftercompletionofthemodelofthepickandplacerobotandselectionof
programminglanguagebothshouldbeinterfaced.Theinterfacingofrobotandcomputer
usingthesoftwareisthemostimportantthingintheproject.Itshouldbeinterfacedusing
trialanderrormethod,andthenfinalmovementshouldbesetusingthesoftwares.The
movementofrobotshouldbepreciselymanagedcausingnoharmtotheoperator,andalso
thebatterieswhicharetobemovedfromonestationtoanother.
Page 33
33

Advantages
1.AccuracyandPickandPlaceRobots:
Robotsareoutfittedwithwidereachesandslimarms,steadyrepeatabilityand
precisetoolingallofwhichallowsthemtobeextremelyaccurate.Thishigh
precisioncapabilitymakesthemagoodmatchforpickandplace

applications.
2.FlexiblePickandPlace:
Oneofthemainadvantagesofroboticsisflexibility.Pickandplacerobotsare
easilyprogrammable.Theyareabletoaccommodatemultiplechangesinproduct
shapeandtype.Inaddition,robotsprovideahighlevelofmovementflexibility.
3.IncreaseConsistencywithPickandPlace:
Pickandplacerobotsystemshavetheabilitytoimproveproductqualityandcycle
time.Roboticmovementsareregulated,sotheresultsarealwaysthesame.Quality
isimprovedbecauseofthisregularity.Furthermore,thisconsistencyallowsthe
processestotakeplace.
4.RobotsareSpaceEfficient:
Becausetheyaredesignedwithcompactbases,pickandplacerobotsareidealif
youarelookingtoconservefloorspace.Robotscanbeprogrammedtomovewithin

strictworkenvelopelimitsleadingtoevenbetteruseofspace.
5.RobotsMaximizeSafety:
Pickandplaceapplicationscanbephysicallydemanding.Theyarelaborintensive,
repetitive,andmonotonous.Dependingontheweightandsizeofapart,movingit
fromoneplacetoanothercanbeverydemandingwork.Pickandplacerobotsare
unaffectedbythestressesoftheapplication.Theyareabletoworkwithouttaking
breaksormakingmistakes.
6.SavewithPickandPlaceRobots:
Incorporatingpickandplacerobotscaneffectivelycutyourcosts.Roboticprecision
andreliabilityallowforlesswastedmaterialandmoreefficientuseoftime.Plus,
theinitialinvestmentinrobotsisquicklyrecoupedmakingpickandplacerobots
anextremelycosteffectivesolution.
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34

TheDisadvantagesofIndustrialRobots:
1.Expense:
Theinitialinvestmenttointegratedautomatedroboticsintoyourbusinessis
significant,especiallywhenbusinessownersarelimitingtheirpurchases
tonewroboticequipment.Thecostofroboticautomationshouldbecalculated
inlightofabusiness'greaterfinancialbudget.Regularmaintenanceneedscan
haveafinancialtollaswell.
2.ROI:
Incorporatingindustrialrobotsdoesnotguaranteeresults.Withoutplanning,
companiescanhavedifficultyachievingtheirgoals.
3.Expertise:
Employeeswillrequiretrainingprogramandinteractwiththenewrobotic
equipment.Thisnormallytakestimeandfinancialoutput.
4.Safety:
Robotsmayprotectworkersfromsomehazards,butinthemeantime,their
verypresencecancreateothersafetyproblems.Thesenewdangersmustbe
takenintoconsideration.
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RobotByApplication
1.Materialhandling
2.packaging
3.Raping
4.Asawelder/curter
andmanymoreapplication
References
RKMittalandIJNagarathRoboticsandControlBITSPilani,2003

RatheeshRajanFoundationStudiesforanAlternateApproachtoMotionPlanningof
DynamicSystemsM.S.E.,theUniversityofTexasatAustin,2001
RichardE.Pattis.KareltheRobot:AGentleIntroductiontotheArtofProgramming.
JohnWiley&Sons,1981.ISBN0471597252.
TheMathWorksInc.MATLAB7.0(R14SP2).TheMathWorksInc.,2005.
NamSunWang,DepartmentofChemical&BimolecularEngineering,Universityof
Maryland
www.robotis.com
www.asmedl.org/robotics
www.wikipedia.org/wiki/Robotics
http://www.robologix.com
www.seattlerobotics.org/encoder/aug97/basics.html
Page 36
36

Estimation
SrnoName
Nos
Rate
Total
1.
Baseplate
1
200
200
2.
Aluminumangels25mm
5mtr
150
750
3.
Aluminumflat25mm
3mtr
150
450
4.
Gearmotors
4
500
2000
5.
Wormgear
4
100

400
6.
Wire
10mtr
50
500
7.
Switchformotor
4
50
200
8.
Powersupply/battery
1
800
800
9.
Hardwarematerial
1
800
800
6100