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Objective & Motivation

The pick and place robot is a microcontroller based mechatronic system that detects the object, picks that object from source location and places at desired location. IR sensors can be used to automatically detect and avoid obstacles if the robot goes beyond line of sight. A gantry can be used for picking and placing objects from source to destination.

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Himanshu Surana
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41 views

Objective & Motivation

The pick and place robot is a microcontroller based mechatronic system that detects the object, picks that object from source location and places at desired location. IR sensors can be used to automatically detect and avoid obstacles if the robot goes beyond line of sight. A gantry can be used for picking and placing objects from source to destination.

Uploaded by

Himanshu Surana
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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OBJECTIVE &

MOTIVATION
In this highly developing society; time and man power are critical
constrains for completion of task in large scales. the automation is
playing important role to save human efforts in most of the regular and
frequently carried works e.g. most of the industrial jobs like welding,
painting, assembly, container filling etc. one of the major and most
commonly performed work is picking and placing of jobs from source to
destination. For this purpose, ‘pick and place robot ‘maybe used.
The pick and place robot is a microcontroller based mechatronic system
that detects the object, picks that object from source location and places
at desired location. For detection of object, infrared sensors are used
which detect presence of object as the transmitter to receiver path for
infrared sensor is interrupted by placed object. As soon as robot senses
presence of object, it moves towards object, picks it with end effectors,
and moves along way gantry and finally place it on destination.

The reason for choosing project is, the most extensively form of
machine is used in most of the industries like car manufacturing,
shipyards, assembling machine etc.

Robotics is a fascinating subject, if you have to fabricate a robot


yourself. The field of robotics encompasses a number of engineering
disciplines such as electronics, structural, pneumatics, and mechanical.
The structural part involves use of frames, beams,
linkages, axles, etc. The mechanical parts comprise various types of
gears, pulleys and belts, drive systems, etc. The electrical items include
DC and stepper motors, actuators, electrical grips, clutches and their
control. The electronics parts involves remote control, sensors (touch
sensor, light sensor, collision sensor, etc.) their interface circuitry and a
microcontroller for overall control function.

The control of the robot involves three distinct phases:


perception, processing, and action. Generally, the preceptors are sensors
mounted on the robot, processing is done by the on-board
microcontroller or processor, and task (action) is performed by using
motors or with some other actuators.

This type of robot can be used to serve various purposes with


certain modification as under:

1. IR Sensors:
IR sensors can be used to automatically detect &
avoid obstacles if the robot goes beyond line of sight. This
avoids damage to the vehicle if we are maneuvering it from a
distant place.
2. Password Protection:

Project can be modified in order to password


protect the robot so that it can be operated only if correct
password is entered. Either cell phone should be password
protected or necessary modification should be made in the
assembly language code.

3. Alarm Phone Dialer:

By replacing DTMF Decoder IC CM8870 by a DTMF


Transceiver IC’ CM8880, DTMF tones can be generated from the
robot. So, a project called !Alarm Phone Dialer! can be built which
will generate necessary alarms for something that is desired to be
monitored. For example, a high water alarm, low temperature
alarm, opening of back window, garage door, etc.

When the system is activated it will call a number of programmed


numbers to let the user know the alarm has been activated.

4. Adding a Camera:
If the current project is interfaced with a
camera (e.g. a Webcam) robot can be driven beyond line-of-
sight & range becomes practically unlimited as GSM networks
have a very large range.
LITERATURE SURVEY
BRIEF HISTORY:

Conventionally, wireless-controlled robots use RF circuits, which have


the drawbacks of:

 limited working range

 limited frequency range

 limited control .

Use of a mobile phone for robotics control can overcome these


limitations.

It provides the advantages of robust control, working range as larger as


the coverage area of the service provider, no interference with other
controllers and up to twelve controls. Although the appearance and
capabilities of robots vary vastly, all robots share the features of a
mechanical, movable structure under some form of control. The control
of robot involves three distinct phases: perception, processing and
action, generally, the preceptor are sensors mounted on the robot,
processing is done by the on board microcontroller or processor ,and the
task (action) is performed using motors with some other actuators.
DTMF :

More than 25 years ago the need for an improved method for
transferring dialing information through the telephone network was
recognized. The traditional method, Dial pulse signaling, was not only
slow, suffering severe distortion over long wire loops, but required a DC
path through the communications channel. A signaling scheme was
developed utilizing voice frequency tones and implemented as a very
reliable alternative to pulse dialing. This scheme is known as DTMF
(Dual Tone Multi-Frequency), Touch-Tone™ or simply, tone dialing.
As its acronym suggests, a valid DTMF signal is the sum of two tones,
one from a low group (697-941Hz) and one from a high group (1209-
1633Hz) with each group containing four individual tones. The tone
frequencies were carefully chosen such that they are not harmonically
related and that their intermodulation products result in minimal
signaling impairment.
DTMF RECEIVERS:

Early DTMF decoders (receivers) utilized banks of bandpass filters


making them somewhat cumbersome and expensive to implement. This
generally restricted their application to central offices

(telephone exchanges). The first generation receiver typically used LC


filters, active filters and/or phase locked loop techniques.

The introduction of MOS/LSI digital techniques brought about the


second generation of tone receiver development. These devices were
used to digitally decode the two discrete tones that result from
decomposition of the composite signal. Two analog bandpass filters
were used to perform the decomposition.

The development of silicon-implemented switched capacitor sampled


filters marked the birth of the fourth and current generation of DTMF
receiver technology. Initially single chip bandpass filters were combined
with currently available decoders enabling a two chip receiver design.
REMOTE CONTROLLED VEHICLES:

Precision Guided Weapon :

This propeller-driven radio controlled boat, built by Nikola Tesla in


1898, is the original prototype of all modern-day uninhabited aerial
vehicles and precision guided weapons. In fact , all remotely operated
vehicles in air, land or sea. Powered by lead-acid batteries and an
electric drive motor, the vessel was designed to be maneuvered
alongside a target using instructions received from a wireless remote-
control transmitter. Once in position, a command would be sent to
detonate an explosive charge contained within the boats forward
compartment. The weapon’s guidance system incorporated a secure
communications link between the pilot’s controller and the surface-
running torpedo in an effort to assure that control could be maintained
even in the presence of electronic countermeasures.
TECHNOLOGY USED :

Dual-Tone Multi-Frequency (DTMF):

Dual-tone multi-frequency (DTMF) signaling is used for


telecommunication signaling over analog telephone lines in the voice-
frequency band between telephone handsets and other communications
devices and the switching center. The version of DTMF used for
telephone tone dialing is known by the trademarked term Touch-Tone
(canceled March 13,1984), and is standardized by ITU-T
Recommendation Q.23. It is also known in the UK as MF4. Other
multi-frequency systems are used for signaling internal to the telephone
network.

As a method of in-band signaling, DTMF tones were also used


by cable television broadcasters to indicate the start and stop times of
local commercial insertion points during station breaks for the
benefit of cable companies. Until better out-of-band signaling equipment
was developed in the 1990s, fast, unacknowledged, and loud DTMF tone
sequences could be heard during the commercial breaks of cable
channels in the United States and elsewhere.
Telephone Keypad:
The contemporary keypad is laid out in a 3x4 grid, although the
original DTMF keypad had an additional column for four now-defunct
menu selector keys. When used to dial a telephone number, pressing a
single key will produce a pitch consisting of two simultaneous pure tone
sinusoidal frequencies. The row in which the key appears determines the
low frequency, and the column determines the high frequency. For
example, pressing the !1! key will result in A sound
composed of both a 697 and a 1209 hertz (Hz) tone. The original
keypads had levers inside, so each button activated two contacts. The
multiple tones are the reason for calling the system multi frequency.
These tones are then decoded by the switching center to determine
which key was pressed.
DTMF Keypad Frequencies (With Sound Clips):
1209 Hz 1336 Hz 1477 Hz 1633 Hz

697 Hz 1 2 3 A

770 Hz 4 5 6 B

852 Hz 7 8 9 C

941 Hz * 0 # D
CIRCUIT DIAGRAM:
BLOCK DIAGRAM:

M1

M2

CELL DTMF MICEOCONTROL- MOTOR


PHONE LER DRIVER
DECODER

M3

M4

DESCRIPTION:
As shown in the above block diagram, first block is
the cell phone so it acts as a DTMF generator with tone depending
upon key pressed. DTMF Decoder, i.e., IC CM8870 decodes the
received tone & gives binary equivalent of it to the
microcontroller. The controller is programmed such that
appropriate output given to 2- motor driver L293D IC which is
well drive the 4 DC motors connected to it. The concept used for
driving is “Differential Drive” . So, ultimately the Four motors
rotate according to the key pressed on the keypad of the cell
phone.
COMPONENT USED:

NAME VALU QUANTITY


100KΩ 1

RESISTOR 330KΩ 2
10KΩ 1
22pF 2

CAPACITOR 33 pF 2
0.1µF 2
MULTI LAYER CAPACITOR 0.1 µF 16
VOLTAGE REGULATOR IC 7805 1
CRYSTAL OSCILATOR 3.578MHz 1
11.0592MHz 1
DTMF IC 8870 1
MICROCONTROLLER AT89C5268 1
MOTORDRIVER L293D 2
BATTERY 12V,1.2AMP 1
DC MOTOR 12V,60RPM 4
HAND FREE NOKIA 1100 1
CONNECTING WIRES RIBON 1M

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