International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

Design and Development of Pick and Place Arm Robot

Shalini Pukkella 1, Dr. V. Suresh Babu2, Dr. K. M. Abubacker3
1Final year student Department of Mechanical and Industrial Engineering, College of Engineering, NUST, Oman
2Deputy Head, Department of Mechanical and Industrial Engineering, College of Engineering, NUST, Oman
3Senior Faculty, Department of Mechanical and Industrial Engineering, College of Engineering, NUST, Oman

---------------------------------------------------------------------***----------------------------------------------------------------------
Abstract – This work involves designing and fabricating 1. INTRODUCTION
a simple pick and place arm type robot that could be used in
handling of parts during different production process. The According to International Standards Organization
production process may include machining, sheet metal (ISO) the robot is defined as, “Industrial robot is an
operation, and assembly of simple parts etc. The problem is automatic, servo controlled, freely programmable,
made very specific with the design objective of picking multipurpose manipulator, with several areas for the
objects like plastic caps, glass blanks as used in horological handling of work pieces, tools or special devices”. A Pick
industries, small sheet metal parts, etc., from one work and Place Arm Robot (PPAR) is one of the big machines
station to another work station. The part is considered to which performs a specific activity in the current modern
be with weight about 100 grams. This research work helps manufacturing industries. It serves the purpose of
in integrating various disciplines such as Mechanical, effective time management as the packaging industries
Pneumatic and Electrical. A systematic design process has involve the arrangement and transformation of various
been adopted from literature review to the manufacturing. raw materials to attain the final output. The cost of
During design conceptualization latest CAD soft tools was material handling activities range from 50-75% of the
involved in developing the 3D model, assembly and 2D total time taken for handling the materials manually. Thus,
drawing. The robot arm is designed with simple design it saves time and energy simultaneously.
where the transformation of the components is carried out
using the pneumatic cylinders and the suction grippers. Moreover, Automation avoids a lot of monotonous
Entire electro pneumatic circuit has been developed by manual labour and speeds up the creation processes. The
using Festo-Fluidsim software. The implementation of the project has the scope for picking and placing the objects
robot was successfully completed and studied for initial cost, from one station to the other, by using a simple manual
Time required for part transfer, and number of pieces operated electro-pneumatics. This project could be
transferred. The initial cost for the system was little higher implemented in industry to minimise the workforce and
when compared to the manual system since the robot laboratories in the educational institutions where the
involves electro pneumatics, however, the parts transferred work piece like simple glass, wood, sheet metal weighing
is higher by two folds and time taken for the part transfer is about 50-100 grams can be picked and placed. This kind of
less. Result shows that the time taken for the transfer of machine further used in the assembly lines for
part from one station to another has largely reduced and transferring bolt and nut with a little modification in the
number of pieces transferred has largely increased. gripper. Modern robotic systems consist of two different
significant parts. First, the manipulator and second is the
Key Words: PPAR - Pick and Place Arm Robot, SCARA- device that actuates the joints of the manipulator.
Selective Compliant Assembly Robot Arm, Electro
Pneumatics, Vacuum gripper. The construction of a manipulator is composed of
the main structure and a wrist alongside a foot attached to
Nomenclature its end. The instrument got manufactured by welding the
Distance between the centre axis of the support and head and comprises of a squirt gun, a machining
axis of cylinder, m instrument, or a vacuum gripper, reliant on the specific
Modulus of Elasticity, GPa requests of the robots. Every side of arm encompasses a
acceleration due to gravity, sequence or mechanical links that relates the vacuum
Second moment of Area, gripper to the attached part. The purpose of the vacuum
Length of the arm on one side, suction is to select and locate the position of the materials
Mass of the cylinder, amid the two stations. By adding electronics, electro-
Mass of the suction cup and its assembly, pneumatic actuators, controllers and other required
Mass of the object,
mechanisms, the human capabilities augment to improve
manufacturing. In many cases, there are valid reasons for
Mass of one side of the arm,
assisting humans.

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4801
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

1.1 Literature review

Since many years’ replacement of human work with

mechanization and automation are in practice. It is
observed and been proved that the robots are faster and
more effective than human work. Robot is an electro-
mechanical device or contrivance that can be used for self-
governing tasks. Currently many robots are utilized for
tasks that are so tough or hazardous for the humans for
apply undeviatingly such as picking and allocating the
objects withal, it can be utilized to automate the perpetual
Figure 1 Vacuum Gripper Assembly and its sectional shape
tasks that can give alongside extra precision. Rajgure S.D
et al [2018] has reviewed the modeling of pneumatic Bicci A and Kumar V [2000], indicates Vacuum
robotic arm for automation in two machines, for material grippers are used in the robots for grasping the materials
handling purpose. The review was between the two and objects in packets. It uses vacuum cups as the gripping
machines namely extrusion and belt grinding machine. It device as shown in Figure1, which is also commonly known
was commanded to design the pneumatic arm to pick and as suction cups. This type of grippers will provide good
place the cylindrical object like steel bars. It has presented handling if the objects are smooth, flat, and clean and
forward and inverse kinematics of robot arm and reveals stored in cartoons. It has only one surface for gripping the
that a robotic arm can be manufactured by using cellular objects. It may not be suitable for handling the pores
titanium and nano crystalline aluminum in order to ensure objects all around. Kragten G A and John R. Amend [2011]
less weight. In some of the work PLC program are used to have elaborated vacuum gripper under actuated hands
control the arm robot, but it needs more costs, skill and that involve fundamentals performance analysis and
knowledge to make it and connecting to the arm robot. design. Eizicovits et al. [2014] have presented efficient
sensory grounded grasp pose quality mapping for vacuum
Harish K et al [2017] tried extracting the signals
gripper.
with the help of Arduino and to send to receiver flag to
check for any applied instructions provided to the Table 1 gives a schematic comparison between
controller. With the instruction decoded and stored back to manual, robotic automation and low-cost automation in
the DATA variable, algorithm checks for opcode with the regard of number of pieces produced per minute, cost
code stored in DATA variable. Accordingly, the robot locate involved, and the time taken. Low cost automation shows
itself as well as the object to be lifted with the usage of dc better solution for industry production process.
motors and chassis. Kaustubh Ghadge et al [2018] used
Node MCU from Microchip Technology to control system Table - 1 Comparison of manual and automatic Robot
and all other activities performed by the Robot Arm for
Pick and Place applications. Android application will be Parameters Manual Full Automatio
sent to Node MCU to respond consequently. CAD modelling Automatio n (Low
of various parts of the robot are performed. Pneumatic n cost)
system components are more familiar to use in arm robot. No. of 10 20 20
pieces/min
Vishakha Borkar and Andurkar G.K [2017], has Initial cost Less More Medium
developed pick and place Robot for industrial applications. Time More Less Less
The design is carried out on a low-cost robot platform for
development of pick and place the things. There is
2. METHODOLOGY
establishment of both wireless communication between
the mobile robot and the remote base station, and serial
communication between the remote base station and the Methodology is devised through the problem
GUI application. The base station requires the serial definition and the functional requirement. The problem
communication with the GUI application and also needs to considered is to pick a flat surfaced object like sheet metal,
be hardwired with the radio packet controller. The work glass etc., from one station and place it at the other station.
has aimed in command and control the Robot wirelessly by
2.1 Stage 1: Conceptualization: This is done through
the GUI application and successfully done the wireless
manual sketching and later converting them to part and
communication and the serial communication in the
assembly models with 2D drawings using any of the
demodulation scheme.
commercially available CAD software’s.
Vacuum gripper is more familiar to make the hand
a. Initially, the system layout is hand sketched,
of robot arm which is used for picking and placing the
which takes into account providing a base
objects, and not expensive.

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4802
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

structure for the robot, this would fix the entire valves, filter regulator and lubricator, selection was done
robot system to the table. through the catalogues.
b. Over which, two stations are to be built, which is
termed to be station 1 and station 2. 2.3 Stage 3: Design of Arm
c. A central vertical rod or lead screw and nut
arrangement which holds a Pinion at the bottom Figure 2 represents the schematic arrangements of
end for rotary movement. the cylinder fixed to the arm and supported at the center.
d. This which would be, driven by a rack actuated The total load acting at the end of the arm W on one side is:
through a horizontally placed pneumatic
cylinder. [ ]
e. The top end of the rod is connected to an arm,
where there are two cylinder with vacuum grip
placed at the end of the piston.

2.2 Stage 2: Function of the PPAR The arm is designed such that the flexural stiffness is
enough to take up the load of the object. The cross-section
After the modeling of all parts, they are assembled and its variation along the length are designed limiting the
with proper constraints and relations. The assembly is permissible value of deflection at the free end. In this
checked for the working of the designed rack and pinion arrangement, uniform hollow rectangular cross-section is
mechanism through simulation. At the end, the part list is selected. From the material properties of the arm, the
finalized. The following are the major parts used in this weight of the arm over the length L on one side from the
system and are modelled. Base frame, rack, pinion, flange, center axis is . Fixing the material of the arm, E becomes
bearing, lead screw and nuts, arm, pneumatic cylinders, constant. With the constraint of maximum permissible
vacuum cups, etc. The rotation is fully defined and precise deflection at the end of the arm as less than , the
rotation in the arms could be attained with the help of minimum required second moment of area should satisfy
pneumatic system and the micro switches. For
incorporating the pneumatic system for rotating the lead
screw, moving the gripers to pick and place the object at
correct places, the cylinder should have enough capacity,
stroke length.

The type (single or double acting) and its control

elements (DCV, Solenoids etc.,) should be appropriately
selected. The conduits tubes should have more than
minimum diameter for avoiding blockages or pressure
surge. Filters, Regulator and Lubricators (FRL) unit is
connected to the system. Productivity is directly related to
the operating method followed, which could be classified as
manual, mechanized and electro-pneumatic. The cost and
time taken would be large in the case of manual operation,
which could be reduced by semi automation. Usage of
appropriate mechanical elements have proven the
improvement in the productivity. Further introducing
electro-pneumatic with control systems will lead to low
cost automation.
Figure.2 Load on beam
One complete cycle involves pick of the object at
station 1 and rotated through 180° in clockwise direction 2.4 Stage 4: Fabrication of PPAR
and place the object at station 2. Further, after placing, the
rotation of arm is brought back 180° in the After completing of fabrication and assembly for
counterclockwise direction. Three double acting pneumatic achieving functionality the PPAR was checked for its
cylinders are involved for pick, place and rotation. The accuracy and repeatability. Since the robot has two modes,
Festo Fluidsim software was utilized in simulating the manual and auto mode for transferring of parts, this model
developed pneumatic logic circuit. The layout of the proves worthy in scaling up for handling heavy objects.
electrical circuit was done and incorporated into the This will also reduce human fatigue and error in terms of
control panel to regulate the movement of the pneumatic transferring objects from a place to other. From the
parts. For the standard parts like cylinders, flow control observation made, the complete experimental setup took
about 8 seconds for the transferring the objects from one
place to another. The work could be altered with a different
© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4803
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

stroke length of cylinders with varying weights up to 100 Table 2, indicate a list of symbols that explains the cycle
grams. Figure 3 represents the flow chart of methodology movement of the PPAR.
which is executed in the present work. It begins with the
object and ends with assembly and testing. Table - 2 Symbols used and their details

Symbols Details
Objectives: To design a
S1 FWD/REV switch for suction cylinder left
Pick and Place Arm
S2 FWD/REV switch for suction cylinder
Robot
right
S3 FWD/REV switch for rack pinion
Literature Review &
Critical analysis S4 Vacuum ON/OFF switch
V1 Valve for left cylinder
V2 Valve for right cylinder
Problem definition V3 Valve for rack cylinder
V4 Valve for vacuum ON/OFF
C1 & C2 Solenoid coil for V1
C3 & C4 Solenoid coil for V2
Conceptualisation and
C7 Solenoid coil for V4
design alternatives
C5 & C6 Solenoid coil for V3
L1 Main indicator lamp
Pre-design

3.3 ELECTRO PNEUMATIC CIRCUIT DIAGRAM FOR

THE PROPOSED DESIGN
Conceptualization and
Design alternatives Figure 5 is a schematic representation of the typical
Pneumatic circuit which developed by using Festo-
Fluidsim software. With three cylinders, each of the
CAD Modelling, Drawing cylinders works individually. Table 3 describe the working
principle. It indicates the operations at each station of the
PPAR. Every cycle involves one pick of the object at station
Order off shelf 1 through the Cylinder 1 and vacuum cup and rotate the
items arm through 180° in clockwise direction and place the
object at station 2 by retraction of Cylinder 2. Further, after
placing, the rotation of arm is brought back 180° in the
Parts Fabrication
counter clockwise direction for continuing with next cycle.
For this cycle operation, two modes (manual or Automatic)
provisions are available.
Assembly of Parts

Figure.3 Flow diagram of the Methodology

3.2 ELECTRICAL CIRCUIT DIAGRAM FOR THE

PROPOSED DESIGN
Figure 4 represents the circuit diagram for PPAR,
the parts involved are briefly indicated.

Figure.4 Electrical circuit diagram Figure.5 Electro pneumatic circuit diagram

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4804
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

Table 3 Station and Operation

Station Operation

Station Cylinder 1 piston forward by actuation of DCV,

1 then vacuum suction 1 will grip the material.
Cylinder 1 piston retracts with the material.
Cylinder 3 piston will forward and actuate the
rack and pinion for 180 degree and moves to
station 2.

Station Cylinder 1 piston forward by actuation of DCV,

2 then vacuum suction 1 will place the material.
Cylinder 1 piston not retracts with the
material. Cylinder 2 piston forward by
actuation of DCV, then vacuum suction 2 will
grip the material in station 1. Cylinder 3
piston will forward and actuate the rack and
pinion for 180 degree and moves to station 1.

4.0 RESULTS AND ANALYSIS

On connecting to 230V, the indicator lamp illuminates.
The Pneumatic supply is connected to the FRL indicating 6
bar line pressure. The object is placed on Station 1 (Left),
Vacuum is switched on. The C2 is switched ON to forward Figure.6 Pick and Place Arm Robot
position cylinder to pick the object. The C2 switch is
changed over for retract with object lifted by the suction
cup. The C3 switch ON the rack moves in forward direction
with 180 deg. The rotating arm is now on the other side of
the platform. The Vacuum is switched off the object is
placed in Station 2. Table 4 indicates the test results of
PPAR which was conducted from the fabricated
arrangement.

Table 4 Testing results of PPAR

S.NO Details Time in

(sec)
1 Shaft rotation from 2.7
Station1 to Station2
2 C1 and C2 3
(forward and reverse process)
3 Pick the object at Station 1 1
4 Place the object Station 2 1

Figures 6 and 7 represents the assembly and control panel

of PPAR. The details of testing are indicated below. Total
time required for complete the manual process is
(2.7+3+1+1=7.7 = 8 sec)
Number of pieces in one minute : 60/8=7.5 Figure.7 Control Panel for PPAR
During one minutes this device can picked and placed (7.5
* 2 = 15) pieces 5.0 CONCLUSION
Number of pieces in one hour : 15 x 60 = 900
During one hour this device can picked and placed 900 Present work has designed a pick and place arm robot
pieces. for transfer of parts from a station to another and this was
achieved with the help of Electro pneumatics. The work

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4805
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

has been successfully completed and all the objectives are [6] Kragten G A and John R. Amend, “Under actuated
met. A provision on manual operation is also provided, hands: fundamentals, performance analysis and design”
which is normally opted during the setting or testing at the IEEE Transaction on Robotics, 2011, Vol. 28.
preliminary stage. The results are highlighted as below: [7] Eizicovits D and Berman S, “Efficient sensory-grounded
grasp pose quality mapping for gripper”. Robotics and
 Use of electronic components and pneumatics Automation Systems, Vol.62, 2014, pp. 1208–1219.
arrangements instead of servo controlled robot has
made the system simple and low cost.
 Reduction of dexterity of human hands. Reduction in Currently completed BEng Computer
the man power required for the pick and place BIOGRAPHIES Aided Mechanical Engineering (Hons)
process, since the process is made manually at National University of Science and
operation. Technology, Oman. She is keen in
 Automation of the pick and place process reduces the doing fundamental research and
cycle time which increases productivity thereby participated in student activities
reduction in the material handling cost. other college events held in the
 Implementations of pneumatic components, campus. She has been deputed to
mechanisms and control panel box are the key to the Glasgow Caledonian Univeristy,
success of the project. The design is simple, safe and Scotland during her final year of
high-speed operation, efficient use of space. study.
 Further, the machine can be used as a study
equipment for understanding pick and place Dr. V. Suresh Babu is presently
operation. working as Deputy Head in the
 Future work could be taken up by developing fully department of Mechanical &
automatic the system. Industrial Engineering, College of
Engineering, National University of
ACKNOWLEDGEMENT Science and Technology, Oman. He
received his Doctorate from National
The authors would like to acknowledge the Institute of Technology, Durgapur
support of the management of National University of with specialization in Mechanical
Science and Technology for the completion of the current Engineering. His research area is of
research paper and also wish to thank Mr. Ahmed Ishaq Non-Symmetrical Gear Systems. He
Ali Al-Bloushi, former student of the CoE for his has vast experience in Industry and
contribution towards the initial development of the teaching since his graduation, which
machine. spans around 30 years. To his
research credentials he has
REFERENCES completed two funded projects
sanctioned by Industrial Innovation
[1] Rajgure S.D, Aakash D Chougale, Ajit N Bhatkande, Center, Oman and holds many
Suraj A Bhamare, Swaroop S Chougale, “A Review on International Journal and conference
Design and Development of Pick and Place Robotic publications attracted many citations.
Arm”, IOSR Journal of Mechanical and Civil
Engineering (IOSR-JMCE) 2018 pp. 74. Dr. Abubacker K.M. is affiliated to
[2] Harish K, Megha D, Shuklambari M, Amit K, Chaitanya department of Mechanical and
K Jambotkar, “Pick and Place Robotic Arm Using Industrial Engineering, and is
Arduino” International Journal of Science, Engineering
and Technology Research (IJSETR) Volume 6, Issue 12, servicing College of Engineering,
December 2017, pp. 1568-73. National University of Science and
[3] Kaustubh Ghadge, Saurabh More, Pravin Gaikwad, Technology, Oman as Senior faculty.
Shrenik Chillal “Robotic Arm for Pick and Place He received his doctorate from Anna
Application” International Journal of Mechanical University, India and has authored
Engineering and Technology (IJMET) Volume 9, Issue and co-authored multiple peer-
1, January 2018, pp. 125–133. reviewed scientific papers and
[4] Vishakha Borkar and G.K.Andurkar “Development of presented works at many national
Pick and Place Robot for Industrial applications”, IRJET, and International conferences. His
Vol.4, Issue 9, September 2017, pp. 347-356 contributions have acclaimed
[5] Bicci A and Kumar V, “Robotic grasping and contact: A recognition from honourable subject
review”, Proc. IEEE Int. Conf. Robot. Automation, April experts around the world. He is
2000, pp. 348–353. actively associated with different
professional societies and academies.

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4806
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 08 | Aug 2020 www.irjet.net p-ISSN: 2395-0072

His academic career is supplemented

with several reputed awards and
funded projects. His research
interests include Thermal
Engineering, Refrigeration systems,
and Solar Energy applications.

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 4807