International Journal of Applied Sciences, Engineering and Management ISSN 2320 – 3439, Vol. 05, No. 02, March 2016, pp. 62 – 65

IJAEM 050216 Copyright @ 2016 SRC. All rights reserved.

Autonomous Pick and Place Robot R.Raghuram1, P.Gayathri2, P.Prasanthi2, S.Alekhya2

1Assistant Professor, Department of Electronics & Communication Engineering, Ramachandra College of Engineering, Eluru, Andhra Pradesh, India.

2B.Tech Students, Department of Electronics & Communication Engineering, Ramachandra College of Engineering, Eluru, Andhra Pradesh, India.

Email: relaraghuram@gmail.com, saideepthi973@gmail.com, santhicreative@gmail.com, alekhya.seshadri@gmail.com

Abstract: Robotics has been playing a key role from past few years. It enabled us to achieve the benchmarks that were once thought a dream. Industrial robots increased the productivity drastically and decreased the operational costs too. This project can be applied in real time to all the industries whether big or small. Also the cost of maintenance is low, thus will profit in the long run.This project revolves around to Create an autonomous pick and place robot prototype with the main focus being the ability to pick and place the object wit out any human interaction and detecting any dangerous bombs. Autonomous pick and place robot uses an Arduino IDE as a software tool for communication with the sensors. Hardware modules like ultrasonic sensors for detecting objects, IC proximity sensor for detecting any iron metal bombs present in that object, L293D motor drivers to drive the motors of the robot and arm and a buzzer to alert the industry in hostile times.GSM module is used to send the SMS to a specified receiver if any bomb is detected. Keywords: Arduino UNO, Ultrasonic sensor, IC proximity sensor, L293D motor driver, GSM module. Introduction Now-a-days, Technology is upgraded day by day. People in industries are keeping lot energy on lifting the objects. Autonomous Industrial Robots are very useful in working for such situations. The goal of industrial robot is to decrease human working on big cases.

Existing System There are many existed models present in working condition.

1. Working by humans itself In previous days and now also in so many enormous industries picking and placing is done by only humans itself. Because of this working by humans, they are not able to use their great and precious brains. As humans are not able to do the work in a consistency manner, there will be a lot of wastage of precious things like electricity for running an industry, money for giving as a salary. Because of doing work by humans there will be a lot human errors like not picking the objects precisely in hostile environment and not able to pick the objects that are unbearable and not able to touch the physical things like too hot iron and cold things. In industries there are some places where humans are not able to reach. So then there is no availability to know the things placed there like in mines.

2. Robots controlled by humans By using robots for working by controlling by humans, we can have advantages like

a. Saving of manpower. b. Improved quality, Speed & efficiency. c. Ability to work in any hostile environment &

accuracy. d. Can do repetitive tasks.

But because of using robots controlled by humans, there should be human interaction. So again employability needs to be provided. Humans have to take care about the performance of the robot all the time leads to time waste. To overcome all the drawbacks of the existed systems, autonomous robots came into existence.

Proposed System

A robotic system that is capable of both picking up and releasing objects with high accuracy, reliability, and speed. Our project autonomous robots for industrial purpose. Autonomous pick and place robot uses an arduino IDE as a software tool for communication with the sensors. Hardware modules like ultrasonic sensors for detecting objects, IC proximity sensor for detecting any iron metal present in that object, L293D motor drivers to drive the motors of the robot and arm and a buzzer to alert the industry in hostile times.GSM module is used to send the SMS to a specified receiver if any bomb is detected. Block Diagram

Autonomous Pick and Place Robot

International Journal of Applied Sciences, Engineering and Management ISSN 2320 – 3439, Vol. 05, No. 02, March 2016, pp. 62 – 65

Main Components Description

A. Arduino IDE

Arduino is an open-source prototyping platform based on easy-to-use hardware and software. Arduino boards are able to read inputs light on a sensor, a finger on a button, or a Twitter message and turn it into an output activating a motor, turning on an LED, publishing something online. You can tell your board what to do by sending a set of instructions to the microcontroller on the board. To do so you use the Arduino programming language (based on Wiring), and the Arduino Software (IDE) based on Processing. • Inexpensive • Cross platform supported •Simple and clear programming environment • Open source and extensible software

B. Microcontroller ATmega328P

• Operating Voltage 5V • Input Voltage (recommended) 7-12V

• Input Voltage (limit) 6-20V • Digital I/O Pins 14 (of which 6 provide

PWM output) • Analog Input Pins 6 • DC Current per I/O Pin 20 mA • DC Current for 3.3V Pin 50 mA • Flash Memory 32 KB • SRAM 2 KB • EEPROM 1 KB • Clock Speed 16 MHz

C. Ultrasonic sensor Non contact distance measurement. These are transducer that converts ultra sound waves to electrical signals or vice versa.Ultrasonic sensors generate high frequency sound waves and evaluate the echo which is received back by the sensor. Sensors calculate the time interval between sending the signal and receiving the echo to determine the distance to an object. This technology can be used for measuring: wind speed and direction (anemometer), fullness of a tank and speed through air or water.

• Supply voltage is 5 V • Global Current consumption is 15 mA • Ultrasonic Frequency 40 kHz • Maximal Range is 400 cm • Minimal Range is 3 cm • Resolution is 1 cm • Trigger Pulse Width is 10 µs • Outline Dimension is 43x20x15 mm To measure the amount of liquid in a tank, the sensor measures the distance to the surface of the fluid. Further applications include: humidifiers, sonar, medical ultrasonography, burglar alarms and non-destructive testing. Systems typically use a transducer which generates sound waves in the ultrasonic range, above 18,000 hertz, by turning electrical energy into sound, then upon receiving the echo turn the sound waves into electrical energy which can be measured and displayed.

D. IC proximity sensor

Inductive Proximity Switch IC proximity switch, also known as non-contact proximity switch. The operation of metal detectors is based upon the principles of electromagnetic induction. it is composed by the oscillator and shaping amplifier after the oscillator start-up in the sensing head of the switch to generate an alternating magnetic field, when close to the sensing area when the metal body, the metal body generating the eddy current, thereby absorbing the energy of oscillation, The oscillation amplitude of the proximity switch is weakened so that the stop vibration achieve reversal purpose, replaced by the shaping amplifier binary switch electrical signals, So as to achieve the purpose of the detection.

• Model -LJ12A3-4-Z/BX • Theory - Inductive Type Sensor • Wire Type - Cylindrical DC 3 Wire Type • Output Type - NPN • Detecting Distance - 4mm • Supply Voltage - DC6-300 mA 36V • Current Output - 300 mA • Response Frequency - 100Hz • Detect Object - Iron • Column Sensor Dia. - 12mm • Length - 50mm • Cable Length - 1M • Net Weight - 80g

E. L293D Motor driver 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. H-bridges are available as integrated circuits or can be built from discrete components. H-bridge. Sometimes called a "full bridge" the H-bridge is so named because it has

R.Raghuram

International Journal of Applied Sciences, Engineering and ManagementISSN 2320

four switching elements at the "corners" of the H and the motor forms the cross bar. L293D is a dual H-Bridge motowith one IC we can interface two DC motorsyou have motor with fix direction of motioncan make use of all the four I/Os to connect up to four DC motors. L293D has output current of 600mA and peak output current of 1.2A per channel.

F. DC Motor The brushed DC motor is one of the earliest motor designs. Today, it is the motor of choice in the majority of variable speed and torque control applications. Advantages • Easy to understand design • Easy to control speed • Easy to control torque • Simple, cheap drive designIn any electric motor, operation is based on principle electromagnetism. A currentconductor generates a magnetic field; when this is then placed in an external magnetic field, it will experience a force proportional to the current in the conductor, and to the strength of the external magnetic field. As you are well aware of from playing with magnets as a kid, opposite (North and South) polarities attract, while like polarities (North and North, South and South) repel. The internal configuration of a DC motor is designed to harness the magnetic interaction between a currentconductor and an external magnetic field to generate rotational motion. Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator, commutator, field magnet(s), and brushes. In most common

R.Raghuram, P.Gayathri, P.Prasanthi, S.Alekhya

International Journal of Applied Sciences, Engineering and ManagementISSN 2320 – 3439, Vol. 05, No. 02, March 2016, pp. 62 – 65

four switching elements at the "corners" of the H

Bridge motor driver, so with one IC we can interface two DC motors. If

with fix direction of motion you can make use of all the four I/Os to connect up to four DC motors. L293D has output current of 600mA and peak output current of 1.2A per

The brushed DC motor is one of the earliest motor designs. Today, it is the motor of choice in the majority of variable speed and torque control

Simple, cheap drive design In any electric motor, operation is based on principle electromagnetism. A current-carrying conductor generates a magnetic field; when this is then placed in an external magnetic field, it will

e a force proportional to the current in the conductor, and to the strength of the external magnetic field. As you are well aware of from playing with magnets as a kid, opposite (North and South) polarities attract, while like polarities (North

South and South) repel. The internal configuration of a DC motor is designed to harness the magnetic interaction between a current-carrying conductor and an external magnetic field to

Every DC motor has six rotor (a.k.a., armature), stator,

commutator, field magnet(s), and brushes. In most

G. GSM GSM (Global System for Mobile communications) is an open, digital cellular technology used for transmitting mobile voice and data services.GSM (Global System for Mobile communication) is a digital mobile telephone system that is widely used in Europe and other parts of the world. GSM uses a variation of Time Division Multiple Access (TDMA) and is the most widely used of the three digital wireless telephone technologies (TDMA, GSM, and CDMA). GSM digitizes and compresses data, then sends it down a channel wistreams of user data, each in its own time slot. It operates at either the 900 MHz or 1,800 MHz frequency band. It supports voice calls and data transfer speeds of up to 9.6 kbit/s, together with the transmission of SMS (Short Message Service) H. Buzzer A piezoelectric element may be driven by an oscillating electronic circuit or othersignal source, driven with aamplifier. Sounds commonly used to indicate that a button has been pressed are a click, a ring or a bee Robotic Arm A robotic arm is a robotic manipulator, usually programmable, with similar functions to a human arm. Servo motor is used for joint rotation. It has about same number of degree of freedom as in Human arm. Humans pick things up without thinking about the steps involved. robot or a robotic arm to pick up or move something, someone has to tell it to perform several actions in a particular order from moving the arm, to rotating the wrist to opening and closing the hand or fingers. So, we can control each jointthrough computer interface.

Advantages

• Consistency of performance.• 24/7 continuous working.• Reduced amount of operator errors.• Improved quality of product.• It can move from one location to another

location. • Robotic workers never get tired.• Do not need to be paid.• Can be made to perform even the most

dangerous tasks without concern.• Wide acceptance.

International Journal of Applied Sciences, Engineering and Management

GSM (Global System for Mobile communications) is an open, digital cellular technology used for transmitting mobile voice and data services.GSM (Global System for Mobile communication) is a digital mobile telephone system that is widely used

ther parts of the world. GSM uses a variation of Time Division Multiple Access (TDMA) and is the most widely used of the three digital wireless telephone technologies (TDMA, GSM, and CDMA). GSM digitizes and compresses data, then sends it down a channel with two other streams of user data, each in its own time slot. It operates at either the 900 MHz or 1,800 MHz frequency band. It supports voice calls and data transfer speeds of up to 9.6 kbit/s, together with the transmission of SMS (Short Message Service).

A piezoelectric element may be driven by electronic circuit or other audio

source, driven with a piezoelectric audio

Sounds commonly used to indicate that a button has been pressed are a click, a ring or a beep.

is a robotic manipulator, usually programmable, with similar functions to a human arm. Servo motor is used for joint rotation. It has about same number of degree of freedom as in Human arm. Humans pick things up without thinking about the steps involved. In order for a robot or a robotic arm to pick up or move something, someone has to tell it to perform several actions in a particular order from moving the arm, to rotating the wrist to opening and closing the hand or fingers. So, we can control each joint

Consistency of performance. 24/7 continuous working. Reduced amount of operator errors. Improved quality of product. It can move from one location to another

Robotic workers never get tired. to be paid.

Can be made to perform even the most dangerous tasks without concern.

International Journal of Applied Sciences, Engineering and ManagementISSN 2320

• WORKING

Autonomous Pick and Place Robot

International Journal of Applied Sciences, Engineering and ManagementISSN 2320 – 3439, Vol. 05, No. 02, March 2016, pp. 62 – 65

Conclusion In our project, the robot is designed to move by it own according to the command given by the program. It is easy to get work completed in the industry. It leads easy process without interaction of human. An alerting message will be sent to a prescribed SIM using GSM module. This project is very much useful in the places where a human cannot go into the places like ground canals, smoke oriented caves and this project is very much useful in such situations. Future Scope In future we can use this project inapplications by adding additional components to the project. 1) By providing artificial intelligence.2) By providing visualization to the robot. 3) By placing magnetic grippers. 4) By implanting temperature sensors. References

[1] Electronics For You Magazine, January 2008, pp. 135. “Method and system for automated detection of mobile telephone usage byMichael Rosen, Akron, OH (U.S).

[2] http://ijcsi.org/papers/IJCSI164-174. Pdf.

[3] http://www.ijarcce.com/upload/2014/ebruary/IJARCCE 3H

International Journal of Applied Sciences, Engineering and Management

In our project, the robot is designed to move by it own according to the command given by the

to get work completed in the industry. It leads easy process without interaction

An alerting message will be sent to a prescribed SIM using GSM module. This project is very much useful in the places where a human cannot go into

round canals, smoke oriented caves and this project is very much useful in such

In future we can use this project in several applications by adding additional components to

1) By providing artificial intelligence. 2) By providing visualization to the robot. 3) By placing magnetic grippers. 4) By implanting temperature sensors.

Electronics For You Magazine, January 2008, pp. 135. “Method and system for automated detection of mobile telephone usage by drivers” Michael Rosen, Akron, OH (U.S). http://ijcsi.org/papers/IJCSI-10-4-2-

http://www.ijarcce.com/upload/2014/e3HssonikIntelligent.