Pick and Place Robot Vehicle

The main objective of this project is to build a robot that will be embedded with a robotic arm and can be controlled using a RF remote. The robot can move to remote places and do the pick & place action of objects that are dangerous and harmful. The applications of this project is vast and can be implemented in a lot of industries.

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The robot that you build will have a robotic arm integrated with it and the actuation of the robotic arm is done with the help of DC motors and it receives commands from the user through RF remote. An RF module will be integrated onto the robot and will receive the commands through the 8051 microcontroller. You will program the 8051 microcontroller in such a way that on receiving the commands from a user, the robot can move in all the directions and also can stop for pick & place action accordingly.

This remote controlled pick & place robotic arm vehicle can be used for carrying out safer pick & place action of objects that are either dangerous or harmful. In total there will be 4 Motors and the user can control all the motors by sending out commands through the RF remote.

Project Description:

• AT89S52: The AT89S52 is a low power, high performance CMOS 8-bit microcontroller with 8k bytes of in-system programmable flash memory. This is a powerful microcontroller which provides high flexibility and cost effective solution to many embedded control applications. It has the following standard features: 8K bytes of flash, 256 bytes of RAM, 32 I/O lines, watchdog timer, 2 data pointers, 3 16-bit timers/counters, on-chip oscillator and clock circuitry.
• L293D: The L293D are quadruple high-current half drivers. It is designed to provide bidirectional drive currents of upto 600-MA at voltage ranging from 4.5V to 36V. It is mainly used to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors. On the L293D, external high-speed output clamp diodes should be used for inductive transient suppression.
• DC Motor: This is an electric machines which converts electrical energy to mechanical energy. This is the most commonly used motor for the actuation of robots.

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• RF Module: The RF (radio frequency) module will have 2 units which acts as the transmitter and receiver. It receives the signals from the user and controls the actuation of the robot accordingly.
• End Effector: It is the end portion of the robotic arm which is connected to facilitate the gripping or handling objects. This can follow the analogy of the human arm.

Project Implementation:

1. The robot has joints that are in analogous to the human joints and are used to join the two rigid bodies present in the robot
2. This robot consists of two rigid bodies on the moving robot and are connected together by a rotary joint
3. The bottom base acts as the chassis and is embedded with wheels to facilitate the linear movement
4. The first rigid body is fixed to the bottom base and connects the second rigid body to which the end effector is connected. The second rigid body is provided to move along all the 3 axes and has 3 degrees of freedom. And the end effector is used to provide 6 degrees of freedom to provide movement along all the axes.)
5. The transmitter consists of the keypad that is interfaced with the 8051 microcontroller and whenever a button is pressed, the decimal format is converted to 4 digit binary by the microcontroller and a parallel output is applied to the encoder.
6. The encoder converts the parallel data to serial data and sent to the transmitter, which is then transmitted with a help of an antenna
7. The receiver side contains the decoder which converts the received command in serial data to parallel data and gives the data to the microcontroller. Based on the commands appropriate input signals will be given to the motor drivers to drive the respective motors.

Software requirements:

1. Keil Uvision 3: Keil Software makes C compilers, macro assemblers, real-time kernels, debuggers, simulators, integrated environments and evaluation boards for the 8051, 251, ARM and XC16x/C16x/ST10 microcontroller families

Programming language: Embedded C language

• 8051 microcontroller
• RF module receiver
• decoder
• motor driver
• battery

• 8051 microcontroller
• Robotics

Pick and Place Robot Vehicle