Project Presentation

on

Simple Robotic Arm

By: Sushant kumar(ECE-3) Gagan deep (ECE-2)

Topics of Discussion
Introduction to Simple Robotic Arm. Interfacing with Microcontroller IC AT89S52. Interfacing of L293D motor driver IC with Microcontroller AT89S52. Principle and Operation of the Robotic Arm. Applications and future prospects.

ROBOT ARM Robot arms are technically called manipulators. A robot arm is categorized according to its geometry. Some manipulators resemble human arms. The joints in these machines can be given names like shoulder, elbow, and wrist. Some Mnipulators are much different from human arms Arm that employs revolute geometry is similar to a human arm, with a shoulder, elbow, and wrist. Arm based on Cartesian geometry is far different from a human arm It moves along axes (x, y, z) that are best described as up-anddown, right-and-left, and front-to-back.

Degrees of freedom
The term degrees of freedom refers to the number of different ways in which the ot manipulator can move. Most manipulators move in three dimensions, but often they have more than three degrees of freedom. Three degrees of freedom Our shoulder has three degrees of freedom A straight arm from the shoulder is capable of moving in three dimensions : Up-and-down movement Right and left movement Rotation of the whole arm One degree of freedom If the shoulder is kept rigid , the arm can be moved from the elbow only in one dimension Up and Down . therefore, has one degree of freedom. Our wrist can bend up-and-down, side-to-side, and it can also twist a little. The lower arm has the same three degrees of freedom. Roll. Pitch Yaw.

Degrees of rotation The term degrees of rotation refers to the extent to which a robot joint, or a set of robot joints, can turn clockwise or counterclockwise about a prescribed axis. Some reference point is always used, and the angles are given in degrees with respect to that joint. Rotation in one direction (usually clockwise) is represented by positive angles; Rotation in the opposite direction is specified by negative angles. Thus, if angle X = 58 degrees, it refers to a rotation of 58 degrees clockwise with respect to the reference axis. If angle Y = - 74 degrees, it refers to a rotation of 74 degrees counterclockwise.

The robot arm shown has with three joints. The reference axes are J1, J2, and J3, for rotation angles X, Y, and Z. The individual angles add together to give the final location in the working space To move this robot arm to a certain position within its work envelope, or the region in space that the arm can reach, the operator enters data into a computer. This data includes the measures of angles X, Y, and Z. The operator has specified X = 39, Y = 75, and Z = 51.

Revolute geometry
A robot arm capable of moving in three dimensions using revolute geometry is shown in Fig. The whole arm can rotate through a full circle (360 degrees) at the base point, or shoulder. There is also an elevation joint at the base that can move the arm through 90 degrees, from horizontal to vertical. A joint in the middle of the robot arm, at the elbow, moves through 180 degrees, from a straight position to doubled back on itself. There might be, but is not always, a wrist joint that can flex like the elbow and/or twist around and around.

Components Used
        

Microcontroller AT89s52 H-Bridge L293d Keys Transformers Motors Crystal Oscillator Diodes Resistors Capacitors

Interfacing Block Diagram

Block orientation of robotic arm

operator

Power supply to controller

Microcontroller

Motor driver IC L293D

Desired motion and orientations

MICROCONTROLLER AT89S52
y STANDARD FEATURES y y y y y y y y 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines, Two data pointers, Three 16-bit timer/counters, A six-vector two-level interrupt architecture, A full duplex serial port, on-chip oscillator, and clock circuitry. Clock frequency of 11.092 MHz is used

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PIN DIAGRAM OF AT89S52

P1.0 P1.1 P1.2 P1.3 P1.4 P1.5 P1.6 P1.7 RST (RXD)P3.0 (TXD)P3.1 (INT0)P3.2 (INT1)P3.3 (T0)P3.4 (T1)P3.5 (WR)P3.6 (RD)P3.7 XTAL2 XTAL1 GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 Vcc P0.0(AD0) P0.1(AD1) P0.2(AD2) P0.3(AD3) P0.4(AD4) P0.5(AD5) P0.6(AD6) P0.7(AD7) EA/VPP ALE/PROG PSEN P2.7(A15) P2.6(A14) P2.5(A13) P2.4(A12) P2.3(A11) P2.2(A10) P2.1(A9) P2.0(A8)
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89S52

L293d
An H bridge is an electronic circuit which enables a voltage to be applied across a load in either direction. These circuits are often used in robotics and other applications to allow DC motors to run forwards and backwards.

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H-Bridge IC-l293d
 Used to control the direction of motor.  Interfaced with microcontroller AT89s52.  IC used is L293d.  1k resistors are used.

Interfacing Robotic Arm with L293D Motor Driver IC

ROBOTIC ARM

Side View

Front View

WORKING POSTIONS OF THE ARM

INITIAL POSITON

GRASPING

MOVEMENT DURING OBJECT GRASP

FINAL POSITION

Robotic arm used as A bomb defusing tool

Robotic arm used as A surveillance tool

 Usefulness of Robotic arm

APPLICATIONS
At airports/railways: For transporting the regular/lost baggage. Computer Industry: With slight modification it can be used for placing parts on a PCB in a bulk order. Military: It can be used for safe disposal of bombs.

Future Areas of Work

In order to obtain higher precision for the movement of the frame, stepper motors or infrared sensors can be used. A barcode scanner can be included along with the robotic arm to differentiate between the objects to be picked up if they are placed closely to each other. The present robotic arm is capable of 2-axis movement only, this can be modified to provide a 3-axis movement by incorporating an additional motor. Slight modification can be provided so that the arm doesnt only perform the Pick/Drop operations but is also capable for operations such as welding, assembling, paint jobs, etc.

Problems encountered
In the early stages of our project, we had to overcome a lot of first hand problems such as: Hardware difficulties Difficulties in circuit designing Problems encountered during the programming cycle of the project Major problem we face during this project is of the back emf produced by the motor

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References
1. Muhammad Ali Mazidi, Janice Gillispie Mazidi and Rolin D. Mckinlay; THE 8051 MICROCONTROLLER AND EMBEDDED SYSTEMS; 2ND edition. 2. http://www.keil.com/dd/docs/datashts/atmel/at89s52_ds.pdf 3. http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/8/L298N.shtml 4. http://www.datasheetcatalog.com/datasheets_pdf/L/2/9/3/L293D.shtml 5. http://www.datasheetarchive.com/TWS-434A-datasheet.html. 6. http://courses.cit.cornell.edu/ee476/FinalProjects/s2008/cl457_yft2/cl457_yft2/datasheets/HT12D.pdf 7. http://www.thefreelibrary.com/Robotic+loaders%3A+Airports+International+looks+at+two+companies'...a0127539884 8. paniit.iitd.ac.in/~iitdr/TrystWorkshop/GRID%20Workshop.ppt 9. http://www.solarbotics.net/library/pdflib/pdf/motorbas.pdf 10.http://www.robots.com/blog.php?tag=264 11.http://robotnonsense.com/arm/UAPreport.pdf

THANK YOU