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Pick_and_Place_Robot_Report

This report details the design and development of a 3-DOF pick and place robotic arm controlled by an Arduino Uno, aimed at enhancing automation in light-duty applications. It outlines the system architecture, components, working principles, and potential applications, while also discussing future improvements such as adding a vision system and expanding to more degrees of freedom. The project showcases a practical solution for automated object handling in various fields including education and industrial automation.

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20230802061
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4 views4 pages

Pick_and_Place_Robot_Report

This report details the design and development of a 3-DOF pick and place robotic arm controlled by an Arduino Uno, aimed at enhancing automation in light-duty applications. It outlines the system architecture, components, working principles, and potential applications, while also discussing future improvements such as adding a vision system and expanding to more degrees of freedom. The project showcases a practical solution for automated object handling in various fields including education and industrial automation.

Uploaded by

20230802061
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Pick and Place Robot Design Report

Name :- Siddhesh Sandip Pokharkar.


PRN :- 20230802061.
Div :- A.

Title
Design and Development of a Pick and Place Robotic Arm with 3 Degrees of Freedom (DOF)

1. Introduction
Pick and Place robots are a cornerstone of modern automation systems, widely deployed in
manufacturing, warehousing, and assembly lines. These robots automate the process of
picking objects from a source and placing them at a target location, enhancing productivity,
consistency, and precision.

This report focuses on the design and implementation of a 3-DOF robotic arm equipped
with a gripper, controlled via a microcontroller (Arduino Uno). It is designed for light-duty
applications such as educational demonstrations, prototyping, and low-load automation.

2. Objectives
• Design a low-cost robotic system that can pick and place objects using servo-actuated
arms.
• Implement an efficient control system for executing motion sequences.
• Simulate robot behavior before deployment using Arduino IDE and simulators.
• Develop an expandable platform for future sensor or vision system integration.

3. System Architecture
The system architecture consists of the following components connected as per the block
diagram below:

+------------------+
| Power Supply |
+--------+---------+
|
+--------v---------+
| Microcontroller |
| (Arduino) |
+--------+---------+
|
+-------------+-------------+
| | |
+--v--+ +--v--+ +--v--+
|Servo| |Servo| |Servo|
|Motor| |Motor| |Motor|
+--+--+ +--+--+ +--+--+
| | |
[Base] [Arm 1] [Arm 2]
|
[Gripper]

Degrees of Freedom (DOF):


- Base Rotation (Yaw) – Servo 1
- Shoulder Joint (Pitch) – Servo 2
- Elbow Joint (Pitch) – Servo 3
- End Effector (Gripper) – Servo-controlled

4. Flowchart (Control Logic)

Start
↓
Initialize System
↓
Move to Pick Position
↓
Close Gripper (Pick Item)
↓
Move to Place Position
↓
Open Gripper (Release Item)
↓
Return to Idle
↓
Repeat / Stop

5. Components and Materials


• Arduino Uno
• Servo Motors (x3)
• Robotic Arm Frame (Acrylic/3D printed)
• Gripper (Mechanical or Suction)
• Power Supply (5V/12V)
• Jumper Wires
• Breadboard

6. Working Principle
The robotic arm uses servo motors to adjust angles at each joint, controlled via PWM
signals. The Arduino executes predefined sequences for pick-and-place operations. Timing
and joint coordination ensure fluid movement.

7. Sensors and Actuators


Actuators:

• Servo Motors (MG995, SG90)


• Optional: Stepper Motors for precision, Pneumatic Actuators for strength

Sensors:

• IR/Proximity Sensors
• Limit Switches
• Ultrasonic Sensors
• Load Cells
• Rotary Encoders

8. Simulation and Testing


Simulations can be performed using Tinkercad, Proteus, or Gazebo. Focus areas include
calibration, range limits, sensor accuracy, and gripper efficiency.

9. Programming Logic
The robot is coded using Arduino IDE. It includes motor angle definitions, sensor checks,
and task sequences using the Servo.h library. Serial control can also be added.

10. Applications
• Industrial Automation
• Electronics Handling
• Medical Laboratories
• Education
• Warehousing

11. Future Improvements


• Add vision system (OpenCV)
• Expand to 4/6 DOF
• Integrate wireless communication
• Use AI for object detection

12. Conclusion
The project demonstrates a simple, effective robot design for automated object handling.
With further enhancements, it can serve in industrial, educational, or research applications.

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