See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/351715537

Designing of Pick & Place Robotic Arm on MSc Adams

Technical Report · May 2021

DOI: 10.13140/RG.2.2.13741.00488

CITATIONS READS
0 459

3 authors:

Ahmad Kaleem Ayyan Ahmad

Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Ghulam Ishaq Khan Institute of Engineering Sciences and Technology
11 PUBLICATIONS   0 CITATIONS    3 PUBLICATIONS   0 CITATIONS   

SEE PROFILE SEE PROFILE

Muhammad Hasnain
Ghulam Ishaq Khan Institute of Engineering Sciences and Technology
2 PUBLICATIONS   0 CITATIONS   

SEE PROFILE

Some of the authors of this publication are also working on these related projects:

Development of self-cleaning mechanism for solar panels View project

All content following this page was uploaded by Ahmad Kaleem on 20 May 2021.

The user has requested enhancement of the downloaded file.

 Group 6
GROUP MEMBERS

AHMAD KALEEM (2018042)

AYYAN AHMAD (2018089)
MUHAMMAD HASNAIN (2018281)

Instructor : Dr. SOHAIL MALIK

TOM CEP REPORT

Table of Contents
Project Objectives: .................................................................................... 3
Abstract ................................................................................................... 3
Introduction ............................................................................................. 3
Literature Review:..................................................................................... 4
Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle ..................... 5
A Review on Robot Arm Using Haptic Technology ....................................................... 5
Design and Operation of Synchronized Robotic Arm .................................................... 6
Design and Analysis of an Articulated Robot Arm for Various Industrial Applications ..... 6
Design and Development of Search and Rescue Robot ................................................. 7
Design of a Robotic Arm with Gripper & End Effector for Spot Welding ......................... 7
Working of Pick and Place Robotic Arm: ..................................................... 8
Analytical Calculations .............................................................................. 9
Mobility .................................................................................................................... 9
Gripper Force........................................................................................................... 10
Torque and Power: .................................................................................................. 11
About MSc Adams Software .................................................................... 12
MSC ADAMS SIMULATIONS OF ROBOTIC ARM ........................................ 12
Fabrication of Robotic Arm ...................................................................... 24
Required Components ............................................................................................. 24
COST ANALYSIS: .................................................................................................... 27
Results and Discussions ........................................................................... 28
References ............................................................................................. 34
Appendices ............................................................................................. 35
Arduino Circuit Diagram ........................................................................................... 35
Arduino Code .......................................................................................................... 35
Project Objectives:
The project will review the design of the Pick and Place Robotic Arm overcoming the
manual operation of picking and placing objects and ensure the smooth and continuous
process of shifting objects.

Abstract
This Complex Engineering Problem (CEP) report reviews the designing, fabrication, and
implementation of 6 DOF picking and placing Robotic Arm. The report also includes the
step-by-step designing and simulations of Robotic Arm on MSc Adams Software. Several
Analytical Calculations are also done to ensure the validity of the proposed design. The
robotic Arm base is capable of rotating 360˚ providing it the flexibility to pick any object
within its range. The robotic arm is fully programmable and controlled with the help of
Blynk - IoT for Arduino app (hc05 Bluetooth module) installed on any android phone. The
design of the Model is such that it offers lesser vibrations while shifting the objects. The
report focuses on an economical way to fabricate the physical model of Robotic Arm
utilizing cheaper components without compromising on our need and its quality.

Introduction
Robotics is widely used in the fields of research, industrial work, and laboratory-based
work for automation and reducing human error. Robotic arms are widely used in
industries for picking and placing different objects. Industries are going towards
automation to minimize labor work and ensure smooth operations. Picking and places
objects all the time is very hectic and requires continuous attention and also there is a
chance of human error in performing such operations by hand.
To overcome this issue, the entire manual process of picking and placing is to be
automated. The advantage of an automated process results in a faster completion time
with minimum errors. In this project, the Robotic arm will be capable of picking objects
one by one from one platform and transfer them to other platforms. Other than
automation, our project will also discuss the implementation of a robotic arm with
switching control. Applications of the forced controlled system can be seen in various
manufacturing industries.
The idea of building a robotic arm that machines can begin to imitate human actions, even
in ways we have not thought of, the main motivation for the creation of robot have been
very practical. Firstly, as the modern industry has become more complex, there has been
an increasing need for getting work done in environments that are dangerous for humans.
For example, work in a nuclear reactor plant often requires contact with radioactive
materials. Secondly, as robots became more advanced and less expensive, they are being
set up in industry situations where working conditions are not so much dangerous as
unpleasant for various reasons. Robots have already taken over several such unpleasant
jobs and unnecessary human jobs in the industry like welding in automobile factories is
now fully automated which reduces the risk of injury to humans.
In this report, our first step will be to make necessary analytical calculations to check for
any design alterations, do velocity and acceleration analysis of current design, and finding
the mobility of the entire model. After that our focus will shift towards 3D modeling of
the proposed model on MSc Adams Software. The report will review the step-by-step
procedure followed on Software from designing to simulations. Finally, graphs of angular
velocities and angular accelerations of all links will be drawn using Software to compare
it with analytically calculated values. Robotic Arm manufacturers are working on different
methods to fabricate the arm at a lesser price. Fabricating an economical robotic arm will
be our top priority without compromising on its quality. We will make use of necessary
components only like Servo motors, Claw, Arduino, and Brackets, etc.
At the end of this report, we will discuss results and observations made through analytical
calculations and MSc Adams calculations and discuss validation of the physical model of
the Robotic Arm.

Literature Review:
Robots have their verifiable past however they came into presences just in 1961 when
Unimation Inc, USA presented the principal servo-controlled new robots. Early
advancement tracing back to 500B.C shows that the Egyptians, Indians, the Chinese, and
the Romans fabricated numerous automatics manikins that emulate the development of
creatures and birds. The Chinese fabricated many interesting gadgets that portrayed
successive movements. Additionally, the early men found numerous components and
showed their advancement expertise in building ships and acquainted weavers weave.
This leds to the new revolution. During the 1940s, far-off transported ace slave controllers
were created. Afterward, power criticism and sensation tangible components were added
to them to work with better control. Tele-worked gadgets were utilized in damages
investigation in 1976. In 1948, the progress was created at Bell labs U.S.A. IBM‟s first
commercial PC IBM 701 was presented to world in 1952. At that point came
mathematically controlled apparatuses in which different slides of machines were
uprooted by mathematical orders through reasonable equipment. The improvement of
NC (mathematically controlled) machine apparatuses has, along these lines, been a
defining moment in the advancement of mechanical technology.
The planet partnership in 1959 presented a pick and spot robot. In 1961, the primary
mechanical robot was marketed by Unimation Inc. Chip innovation was brought by INTEL
in 1961. The genuine robot advancement measure proceeded somewhere in the range of
1968 and 1982 when different models of robots were created by driving robot
researchers in various colleges, public labs and distinctive mechanical houses in the USA,
Japan, France, UK, and other European countries. A portion of the robot models of
authentic interest are the Versatran by AMF, created in (1963) and Cincinnati Milacron
presented in (1974), Irb-6 by ASLA in (1978). The Kawasaki and Hitachi bunches in Japan
have likewise contributed a ton in creating different sensors to make robots „think‟
intensely. [1]
Above was just the general background of evolution of robots. Coming back to our topic,
we will now discuss the methods adopted by different researchers to achieve their goals.

Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicle

The plan examination of a "Pick and Place" Wireless Robotic vehicle has been introduced
in given investigation. This work unravels the way that man would reliably have to clung
to prosperity security measures at workplace and shockingly in its flow situation, to have
the choice to bargain for certain specific endeavors, and in cases of using mechanical
vehicle in hazardous climate to obtain results. An average Robotic Vehicle is equipped for
going over different landscapes and navigating obstructions. In one encapsulation, the
plan in this work, incorporates a Robotic arm of five Degree of Freedom with its base
laying straightforwardly on top of the vehicle, hence a body with four drive wheels
coupled to finishes. The wheels are specifically controlled to move the vehicle. The plan
technique includes the equipment, programming part and execution of the two plans. A
model of the Remote Controlled "Pick and Place" Robotic vehicle was worked to approve
plan determinations. The outcomes acquired were acceptable. The utilization of Robots
is enthusiastically suggested for Industries particularly for security and profitability
reasons. [1]

A Review on Robot Arm Using Haptic Technology

Robots are assuming a vital part in our everyday life. The primary thought behind putting
forth any robot is to decrease human attempt. Contingent on the prerequisites, various
kinds of robotized and self-controlled robots are being carried out. As numerous robots
which are as of now existing in the market experiencing controlling issues and to beat this
one of the arising innovation named Haptic Technology is talked about in this paper. This
paper additionally examines a methodology for show of a robot arm for genuinely
incapacitated individuals who can't walk. For those individuals who can only with
significant effort lift straightforward things (for example lifting a glass of water). So the
improvement of a Robot Arm which is constrained by the remote medium is the subject
of the paper and to make this done haptic innovation will assume a vital part all things
considered. Basically, a robotic arm is divided into two sections one is haptic glove and
the other is automaton arm. The region where robot arm moves, relies on the scope of
Zig-honey bee module and robot arm is constrained by the haptic glove. So by keeping all
imperative and constraints this paper will talk about a survey on the execution of a
minimal effort robot arm utilizing Haptic innovation which plays out different errands
utilizing less number of assets and it is not difficult to utilize. [2]

Design and Operation of Synchronized Robotic Arm

The paper composition manages the planning and execution of the Synchronized Robotic
Arm, which is utilized to play out every one of the fundamental exercises like getting
objects and organizing them. In this paper, an automated arm is planned, synchronized
with the functioning arm, and would play out the assignment as the functioning arm does.
The work done by the automated arm would be exceptionally exact, as an advanced servo
engine is utilized. A servo engine of 230 oz-inch is utilized in the undertaking, however,
engines with a greater limit can likewise be utilized as indicated by the ideal work. This
mechanized arm can similarly be used for precision works. For example, some work must
be done correctly however the conditions don't exactly measure up for people. In such
conditions, this automated arm can be utilized distantly and the errand can be cultivated.
The writing of computer programs is done on ATMEGA-8 Microcontroller utilizing Arduino
programming. The potentiometers are additionally used to recognize the point of the
pivot and the signs are then shipped off the microcontroller. In this day and age, this
Robotic arm has turned out exceptionally big-hearted. Other than Robotics and
Automation, these sorts of arms have applications in different fields moreover. [3]

Design and Analysis of an Articulated Robot Arm for Various Industrial

Applications
Nowadays Robots expect an urgent part in all of the activities in human life including
mechanical cravings. In present day mechanical collecting measure includes careful and
speediest methods. Human undertakings are required to play out an arrangement of tasks
in a computerized structure, for instance, set-up, programming, examining, and upkeep
and blunders. Unsafe conditions exist when human administrators mediate into the
mechanical work zones. Human insight, dynamic, and activity methodologies should be
concentrated to forestall robot-related mishaps. Framework planners and innovation
administrators are needed to consider the restrictions of administrator perceptual
interaction in plan and format of automated structure. A definitive article is to save
human lives as well as expanding efficiency and nature of high innovation workplaces.
Compelling security preparing programs for work with modern robots ought to be
created. The target of this undertaking is to plan, investigation of a Generic verbalized
robot Arm. Explained robot has been noted for application in navigating and performing
control in atomic reactor offices. A few parts of the enunciated Robot that are expected
as valuable are its little cross area and its extended capacity to change rise and move over
impediment. The little cross segment and the heaps connected with suspension of the
Robot while changing height or moving over deterrents require enormous joint force to
weight proportions for incitation of different joints. A tale joint activities activation
conspire is portrayed and its execution definite in this undertaking. [4]

Design and Development of Search and Rescue Robot

Search and salvage robot is grown mostly to travel through rubbles and garbage. At the
point when a catastrophic event, for example, a tremor struck making the structure
imploded, this robot can be utilized to look for casualties and move to a safe spot. The
search and salvage robot is furnished with a mechanical arm to play out the clearing cycle.
With this automated arm, the robot can without much of a stretch snatch the casualty in
an imploded building and bring it to a safe spot. By and large, there are many robots like
this utilized for salvage activity in fell structure. Be that as it may, none of them is
controlled by utilizing cell phones. So this paper is deliberately intended to build up a
model of the automated vehicle utilizing cell phones as a regulator by utilizing Bluetooth
transmission. The distance can shift from 10 meters to 100 meters contingent upon the
kind of Bluetooth module utilized. This robot is fueled by an Arduino Uno R3 board
utilizing a 9V AA battery for the power supply. To control this robot utilizing cell phones,
an application was planned by utilizing MIT Inventor to make an application interface
between robot and cell phones. While for the mechanical arm will be a plan by utilizing
Autocad programming. What's more, the mechanical arm will likewise utilize four servos
to move. [5]

Design of a Robotic Arm with Gripper & End Effector for Spot Welding
A robot is a framework consolidating numerous subsystems that cooperate among
themselves just as with the climate wherein the robot works. In mechanical technology,
end effectors are a gadget toward the finish of an automated arm, intended to associate
with the climate. Gripper is an end effectors or apparatus to get a handle on any actual
thing that might be a human hand or any instrument. To accomplish this objective we
plan to consolidate a straightforward linkage incitation component. An AC engine is
utilized alongside spike gears and a strung shaft plan. The gripper can play out the
essential capacity of picking, holding and getting a handle on of articles through a DC
engine and it shapes the component for the spot welding. The human hand configuration
frames the premise of this venture of building up a mechanical gripper and is the
wellspring of motivation to accomplish the adequate degree of skill in the area of getting
a handle on and control whenever combined with wrist and arm.[6]

Working of Pick and Place Robotic Arm:

Systems like Pick and place robotic arm can be designed in various ways according to its
applications. Such kind of frameworks depends intensely on joints, which are utilized to
join the two back to back unbending bodies in the robot arm and can be straight joint or
turning joint. Joints are the main element of any mechanical arm as it characterizes the
development of the arm as they choose the level of opportunity of the segments.
Subsequently, all mechanical arm comprises of following essential parts.

• Controllers
• Manipulator
• Grippers
• Source of Power and drivers

There are different approaches or controlling units to operate robotic arm like:

• Mechanical Means
• Hydraulic type Systems
• Electrical means
The above two strategies for working automated arms are obsolete and individuals will in
general use those controlling units when there is no or little idea of electrical frameworks.
Nowadays, an electrical system is considered the preferred controlling unit as this kind of
control is convenient, clean, quiet, reasonably fast, and utilized on nearly all assembly
robots that require close tolerance accuracy. Programmable regulator microcomputer
type, microchips based, and smaller than normal PC based regulator are utilized for saving
data to perform different tasks.
Robotic arm in our case should be designed in such a way that it carries and place various
sizes of objects. Mainly, our robotic arm consists of three links, one gripper (two gripping
links) and a strong base to provide stability to overall system. Base should be capable of
rotating about its own axis only (1 DOF) so we need to attach 1 servo along with motor
driver at base. Lower link must be attached with the base and this link should be capable
of rotating up to 180 followed by middle link and third link having complex motions.
Bluetooth module will be used in order to a establish connection between the servos and
user inputs.

Analytical Calculations
Mobility
In order to completely specify the location of all the joints or links of the chosen robotic
arm, it is necessary to calculate the degree of freedom (DOF) or Mobility of this robotic
arm.
The degree of freedom of a mechanism can easily be found using Greubler’s equation,
given by:
J
DOF = m( N − 1 − J ) +  fi
i =1
Where
m is 6 for spatial and 3 for planar mechanism
N is the number of length
J is number of joints
Fi is the degree of freedom allowed by a joint
For the robotic arm chosen for this study, we have
M=6, N= 7, J=6 and Fi= 1
6
DOF = 6(7 − 1 − 6) + 1
i =1

DOF = 6
So we need at least six number of independent equations in order to completely specify
our mechanism.

Gripper Force
The gripper force computation is accomplished for breaking down the grasping force. The
grinding between the gripper and the article ought to be to such an extent that it bear
the heaviness of the item. Gripper force is calculated using the following formula:
  nf  Fg = W (1)

Where μ = coefficient of friction of the finger contact surface against the part surface
nf = number of contacting fingers
Fg = gripper force
W = object weight being gripped by system
μ = 0.75
nf = 2
W = 5 kg
Putting in Equation (1)
W
Fg =
nf  
 5
Fg = = 8.33 N
2  0.3

This is the required gripping force to hold the object of weight 5 kg.

Torque and Power:

To produce motion effect in links of the robotic arm, actuators are installed at every
joint. The actuator/motor provide torque to the links that produce motion. Links weight
and Inertia offer great resistance to motion of arm. The resistive torque acting on the
joint due to gravity strongly depends on the position of the links. Naturally the most
extreme torque happens when the arm is totally loosened up (the most pessimistic
scenario).

Figure: loads and lengths for torque calculation

M1 is the moment sustained at the shoulder (joint 2) and calculated as

M1(s) = 𝑊3 × 𝐿4 + 𝑊2 × (𝐿1 + 𝐿2 ) + 𝑊1 × 𝐿1
M2 is the moment sustained at the elbow and calculated as
M2(2) = 𝑊2 × 𝐿2 + 𝑊3 × (𝐿2 + 𝐿3 )
M3 is the moment sustained at the elbow and calculated as
M3(s) = 𝑊3 × 𝐿3
Where the subscript ‘s’ shows the moment due to static loading/weight.
But for the arm to move from rest position an acceleration is required:
mr 2 
M(dynamic) = I *  = *
2 T

Total torque is is sum of the static and dynamic moment.

Mt = M(s) + M (d)
The power supplied by each motor, for a certain rpm and time period, is calculated from
the torque at the respective joint, given by:
2 NM t
Power = P = ( watts )
60

About MSc Adams Software

MSC ADAMS (Automated Dynamic Analysis of Mechanical Systems) is a multibody
dynamics simulation software system. The simulation software solver runs fundamentally
on FORTRAN and somehow on C++ too.

Adams has a full graphical UI to demonstrate the whole mechanical assembly in a solitary
window. Graphical Computer-supported design tools are utilized to embed a model of a
mechanical framework in three-dimensional space or import calculation documents.
Joints can be added between any two bodies to compel their movement. Assortment of
information sources like velocities, forces, and primary conditions can be added to the
framework.

Adams simulates the conduct of the system after some time and can animate its
movement and process properties like velocity changes, forces, and so forth the system
can incorporate further muddled dynamic components like springs, grating, adaptable
bodies, and contact between bodies. The product additionally gives extra CAE
instruments, for example, design exploration and advancement dependent on selected
limitations. The data sources and yields of the simulation can be interfaced with Simulink
for applications like control.

Now a days, Adams is used in both hypothetical research and engineering firms. The most
widely recognized use of the product is investigation of vehicle construction and
suspension through the Adams/Car and Adams/Tire modules. Different kinds of
mechanical frameworks, for example, wind turbines, powertrains, and automated
frameworks.

MSC ADAMS SIMULATIONS OF ROBOTIC ARM

Creating New Data Base
- Click on Create a New Model.
- Select the Working Directory.
- Set the gravity to Earth Normal (-Global Y).
- Type the valid name without spaces.
Creating Links
- Create 3 bodies (1 cylinder and two links)
- Rename all the bodies by right clicking it for your convenience.
- Use following dimensions
Cylindrical Base L = 50 mm R = 60 mm
Lower Link L = 150 mm W = 40 mm D = 40 mm
Lower Link L = 100 mm W = 30 mm D = 30 mm

Reduce the grid size

- Reduce the grid size. Settings > Working Grid Settings.
Gripping Links
- Now add two gripping links for gripping objects.
- Links should be equally spaced from the main link.

Add to part link

- Click on Link and select “Add to part” in the dropdown menu of Geometry links.
- Click on third link then select left hand and right hand link to make this link a part
of third link.
Adding Joints:
- Add all five Revolute Joints by clicking on connectors and then selecting revolute
joints for each joint.

Giving the shape of Mechanical Claw:

Making of Picking object Platform
- Select a box option by clicking on bodies option.
- Select the XZ plane for drawing.
- Draw a box of 200 x 80 cross section starting from 200, -40 coordinates.

Fix the platform with respect to Ground

- Using fixed joint.
Add another Platform
- Add another platform following the same procedure for placing object.

Add Object
- Add small object of 40 x 40 cross section by clicking on box option. Place it on
Platform 1.
Make Contacts
- Click on Forces and select Contact option to make contact between platform and
the box.

Make all the Required Contact(s)

- Make contact of box with platform with platform 1, left link and right link too
following the same procedure.
Add Coupler force
- Select coupler force by clicking on Force.
- Make coupler contact between left hand and right hand links for grabbing
objects.

Add Torsion Spring

 - Click Torsion Force by clicking force and input the required parameters as shown
in figure below.

- Write the following function in SFORCE function box.

Adding Motions
 - Add motions by clicking on Motions and selecting the joint.
- Add function definitions for each joints.
- Add following function definitions
Joint b/w base and lower link (STEP( time , 0 , 0 , 1 , 40d ) + STEP( time , 1.1 , 0 ,
2, -20d ) + STEP( time , 2 , 0 , 3 , +20d ) + STEP( time , 3.1 , 0 , 4 , -20d ))
Joint b/w lower and middle link (STEP( time , 0 , 0 , 1 , -110d ) + STEP( time , 1.1 ,
0 , 2, +40d ) + STEP( time , 2 , 0 , 3 , -40d ) + STEP( time , 3.1 , 0 , 4 , +40d ))
Joint b/w middle and third link STEP( time , 0 , 0 , 1 , 60d ) + STEP( time , 1.1 , 0 ,
2, -60d ) + STEP( time , 2 , 0 , 3 , 60d ) + STEP( time , 3.1 , 0 , 4 , -60d )
Joint b/w ground and base STEP (time , 1.5 , 0 , 2.5 , -90d)

Adding two more boxes

- I have added two more boxes to conclude my design.
Concluding Design:
- Two servo motors are added on two different links and some design
modifications are also concluded.

*Simulations results will be discussed in Results and observation section*

Fabrication of Robotic Arm
As simulations of proposed Robotic arm is showing promising results, the next step is to
go ahead and fabricate it. For implementing the actual design, we need several gadgets
or tools helpful for making the design successful.

Required Components
- Servo Motors
- Controller (Arduino Uno R3)
- Mechanical Claw (Gripping tool)
- Links (brackets)
- Strong Bottom Plate
- HC-05 (Bluetooth Module)
- Bearing
- Screws and Nuts
- Power Adapter
- PCB
- Headers
- Jumper wires

Servo Motors
We will use 4 servo motors having high torques values and can resist high values of
temperatures so that do not malfunction picking up a slightly heavier object.
- Tower MG 996 pro Servo (This servo will be employed at the joint between the
base and lower link for generating high torques also employed at Mechanical
claw for gripping different objects. These are high temperature resistant)
Controller:
Arduino Uno R3 controller will be used to automate the robotic arm. It works
according to the input given by Blynk app (mobile) connected through Bluetooth
Module (HC-05).

Mechanical Claw
Mechanical Claw will be used for gripping different objects. It can pick objects of
variable sizes.

Brackets
Brackets of variable shapes and sizes will be used which will serve the purpose of links.
They will be connected using mechanical screws.

Strong Bottom Plate

Strong Bottom plate will be used to provide stability to entire design. Hard and heavier
base will ensure lesser vibrations in the system.
Bluetooth Module
Hc-05 Bluetooth module is used to connect our arm to mobile where we will have
proper control system for arm movement.

PCB:
We will use PCB to connect Arduino and HC-05 to Servo motors and we will also give
power supply to system through PCB.

Bearing
One large bearing will be used at the base of the robotic arm so that it can rotate freely
and will help in reducing frictional effect and ensure smooth operation.
Screws & Nuts:
Screws and nuts of various sizes will be used for linking or joining different parts of
Robotic Arm.

Power Adapter:
Power Adapter will be used for providing AC power to the system.

Headers and Jumper wires:

Lastly, male Headers and female Jumper wires are used for connection b/w different
components.

COST ANALYSIS:

S/no Parts Name Quantity Price of Each Part Total Price

1 Servo Motors 4 580/- 2320/-
(Tower MG 996
pro)
2 Controller 1 900/- 900/-
(Arduino Uno
R3)
 3 Mechanical Claw 1 500/- 500/-
(Gripping tool)
4 Bluetooth module 1 120/- 120/-
(HC-05)
5 PCB 1 100/- 100/-
(copper single
side)
6 Bearings 6 50/- 300/-

7 Screws and Nuts ----- 100/- 100/-

8 Power Adapter 1 450/- 450/-

9 Links 3 200/- 600/-

10 Headers and 40 90/- 90/-

Jumper Wires
11 Miscellaneous ----- 200/- 220/-
charges
Grand Total 5700/-

Results and Discussions

The window shots shown above depict the step-by-step process of the whole simulation
process and the detailed design of the robotic arm. Arduino UNO is used as a processor
in this project and a Bluetooth Module HC-05 is used to receive and transmit signals. It
receives and transmits commands from Arduino, thus moving the robotic arm in the
desired direction.
The completed model of the pick-and-place robotic arm that was created in MSC ADAMS
was used to carry out the analysis of the gripping force between the claws and the object.
And according to the objective of this study, the results obtained from the ADAMS
simulation study were compared with the analytical calculations mentioned above. The
following figure shows the graph of gripping force against time:
 Figure: Gripping force of the claws against Time

The result in the figure shows that the gripping force on average is 280 N while the force
needed to pick objects of the chosen weight (5kg) is 8.329N. Thus the robotic arm is safe
in handling such loads. It is because we are using a torsional spring in claws to grip the
object that is to be picked and placed. The gripping force depends upon the stiffness of
that spring, and the springs chosen for this arm are of high stiffness to ensure safe and
adequate handling of the objects. The zig-zag pattern of the graph is actually due to the
vibration of the arm due to the presence of motors and object handling. The graph shows
that the vibration is maximum when the base of the arm starts to rotate to achieve motion
in 3 dimensions.
Furthermore, the degree of freedom of the system is an important parameter to
completely describe a system. The DOF of the chosen mechanism was found using ADAMS
and was compared with the DOF obtained from the Greubler equation. The DOF
according to greater equation was 6 that matches with the DOF obtained from the
simulation.
 Figure: Degree of Freedom of the mechanism

This figure shows that the degree of freedom is 7 but it incorporates the motion of the
conveyor belt. The actual DOF for the arm is 6 since it does not include the conveyor belt.
To completely analyze the design of a mechanism it is necessary to identify the magnitude
of the torque on each joint. The magnitude of torque is an important factor in selecting
motors of the desired specifications. The leading equations that are used to compute
torque at the joints are shown in the analytical calculations section. The total torque
incorporates both static and dynamic torque. The results obtained from ADAMS
simulation for torques (in N-mm) at various joints, at a load of 5 kg, are shown below:

Figure: torque at joint between base and lower link

 Figure: Torque at joint between lower and middle link

Figure: Torque at joint between middle and third link

The results show that the torque is maximum (100 Nm) for the joint between the lower
link and the base, and is minimum (28 Nm) for the joint between the middle link and the
claws. It is because torque depends upon the moment arm which is greater for the joint
between the lower arm and the base. So, from the simulation, it is clear that for the
specified dimensions and weights we must choose a motor that can supply torques much
greater than 100 N-m in order to pick and place the 5 kg object adequately.
Furthermore, In this study we used the software, MSC ADAMS to check the forward
kinematics of the robotic arm. In forwarding kinematics, we read the position, angular
velocity, and acceleration of all links. ADAMS give the following results for the position,
velocity, and acceleration.
Position, Angular velocity and Angular Acceleration of each link:
The results shows that the maximum angular velocity of 280 (degree/sec) is obtained for
the third link attached to the claw. While a little velocity is for our lower link connected
to the bottom. Similarly, the angular acceleration is also maximum for the third link and
is of the order of magnitude 270(degree/sec^2).
References

[1] R. Magnet, "History of Robots," Wikipedia, 2007.

[2] B.O.Omijeh, "Design analysis of a Remote Controlled "Pick and Place" Robotic
Vehicle," international journl of Engineering research and Development, vol. 10, no.
5 May, pp. 57-68, 2014.

[3] R. s. Prof. A. Reshamwala, "A Review on Robot Arm Using Haptic Technology,"
International Journal of Advanced Research in Electrical, Electronics and
Instrumentation Engineering, vol. 4, no. 4, April 2015, 2015.

[4] S. G. Goldy Katal, "DESIGN AND OPERATION OF SYNCHRONIZED ROBOTIC ARM,"

International Journal of Research in Engineering and Technology , vol. 02, no. August
08, 2013, 2013.

[5] S.Pachaiyappan, "DESIGN AND ANALYSIS OF AN ARTICULATED ROBOT ARM FOR

VARIOUS INDUSTRIAL APPLICATIONS," IOSR Journal of Mechanical and Civil
Engineering, pp. 42-53, 2011.

[6] M. H. a. M. Khalil Azha Mohd Annuar, "Design and Development of Search and
Rescue Robot," International Journal of Mechanical & Mechatronics Engineering ,
vol. 16, 2016.

[7] P. Singh, "Design of a Robotic Arm with Gripper & End Effector for Spot Welding,"
Universal Journal of Mechanical Engineering , vol. 3, pp. 92-97, 2013.
 Appendices
Arduino Circuit Diagram

Arduino Code
Code taken from Instructables.

1. int motor1Pin1 = 8; // pin 2 on L293D IC

2. int motor1Pin2 = 7; // pin 7 on L293D IC
3. int enable1Pin = 9; // pin 1 on L293D IC
4. int motor2Pin1 = 5; // pin 10 on L293D IC
5. int motor2Pin2 = 4; // pin 15 on L293D IC
6. int enable2Pin = 6; // pin 9 on L293D IC
7. int motor3Pin1 = 14; // pin 2 on L293D IC
8. int motor3Pin2 = 13; // pin 7 on L293D IC
9. int enable3Pin = 15; // pin 1 on L293D IC
10. int motor4Pin1 = 11; // pin 10 on L293D IC
11. int motor4Pin2 = 10; // pin 15 on L293D IC
12. int enable4Pin = 12; // pin 9 on L293D IC
13. int state;
14. int flag=0; //makes sure that the serial only prints once the statevoid setup()
{
15. pinMode(motor1Pin1, OUTPUT),pinMode(motor1Pin2, OUTPUT),pinMode(enable1Pin,
OUTPUT);
16. pinMode(motor2Pin1, OUTPUT),pinMode(motor2Pin2, OUTPUT),pinMode(enable2Pin,
OUTPUT);
17. pinMode(motor3Pin1, OUTPUT),pinMode(motor3Pin2, OUTPUT),pinMode(enable3Pin,
OUTPUT);
18. pinMode(motor4Pin1, OUTPUT),pinMode(motor4Pin2, OUTPUT),pinMode(enable4Pin,
OUTPUT);
19. Stop();
20. Serial.begin(9600);
21. }void loop() {
22. if(Serial.available() > 0){
23. state = Serial.read();
24. flag=0;
25. }
26.
27. if (state == 'F'){
28. Forward();
29. if(flag == 0)Serial.println("Go Forward"),flag=1;
30. }
31.
32. else if (state == 'B'){
33. Reverse();
34. if(flag == 0)Serial.println("Go Reverse"),flag=1;
35. }
36.
37. else if (state == 'L'){
38. Left();
39. if(flag == 0)Serial.println("Go Left"),flag=1;
40. }
41.
42. else if (state == 'R'){
43. Right();
44. if(flag == 0)Serial.println("Go Right"),flag=1;
45. }
46.
47. else if (state == 'S'){
48. Stop();
49. if(flag == 0)Serial.println("STOP!"),flag=1;
50. }
51.
52. else if (state == 'P'){
53. Pick();
54. if(flag == 0)Serial.println("Pick"),flag=1;
55. }
56.
57. else if (state == 'Q'){
58. Place();
59. if(flag == 0)Serial.println("Place"),flag=1;
60. }
61.
62. else if (state == 'H'){
63. Hold();
64. if(flag == 0)Serial.println("Hold"),flag=1;
65. }
66.
67. else if (state == 'I'){
68. Free();
69. if(flag == 0)Serial.println("Unhold"),flag=1;
70. }
71.
72. }void Forward(){
73. digitalWrite(motor1Pin1, LOW);
74. digitalWrite(motor1Pin2, HIGH);
75. digitalWrite(motor2Pin1, HIGH);
76. digitalWrite(motor2Pin2, LOW);
77. digitalWrite(enable1Pin, HIGH);
78. digitalWrite(enable2Pin, HIGH);
79. }void Reverse(){
80. digitalWrite(motor1Pin1, HIGH);
81. digitalWrite(motor1Pin2, LOW);
82. digitalWrite(motor2Pin1, LOW);
83. digitalWrite(motor2Pin2, HIGH);
84. digitalWrite(enable1Pin, HIGH);
85. digitalWrite(enable2Pin, HIGH);
86. }void Left(){
87. digitalWrite(motor1Pin1, HIGH);
88. digitalWrite(motor1Pin2, LOW);
89. digitalWrite(motor2Pin1, HIGH);
90. digitalWrite(motor2Pin2, LOW);
91. digitalWrite(enable1Pin, HIGH);
92. digitalWrite(enable2Pin, HIGH);
93. }void Right(){
94. digitalWrite(motor1Pin1, LOW);
 95. digitalWrite(motor1Pin2, HIGH);
96. digitalWrite(motor2Pin1, LOW);
97. digitalWrite(motor2Pin2, HIGH);
98. digitalWrite(enable1Pin, HIGH);
99. digitalWrite(enable2Pin, HIGH);
100. }void Pick(){
101. digitalWrite(motor3Pin1, LOW);
102. digitalWrite(motor3Pin2, HIGH);
103. digitalWrite(enable3Pin, HIGH);
104. }void Place(){
105. digitalWrite(motor3Pin1, HIGH);
106. digitalWrite(motor3Pin2, LOW);
107. digitalWrite(enable3Pin, HIGH);
108. }void Hold(){
109. digitalWrite(motor4Pin1, LOW);
110. digitalWrite(motor4Pin2, HIGH);
111. digitalWrite(enable4Pin, HIGH);
112. }void Free(){
113. digitalWrite(motor4Pin1, HIGH);
114. digitalWrite(motor4Pin2, LOW);
115. digitalWrite(enable4Pin, HIGH);
116. }void Stop(){ // Stop the motors
117. digitalWrite(enable1Pin, LOW);
118. digitalWrite(enable2Pin, LOW);
119. digitalWrite(enable3Pin, LOW);
120. digitalWrite(enable4Pin, LOW);
121. digitalWrite(motor1Pin1, LOW);
122. digitalWrite(motor1Pin2, LOW);
123. digitalWrite(motor2Pin1, LOW);
124. digitalWrite(motor2Pin2, LOW);
125. digitalWrite(motor3Pin1, LOW);
126. digitalWrite(motor3Pin2, LOW);
127. digitalWrite(motor4Pin1, LOW);
128. digitalWrite(motor4Pin2, LOW);
129. }

View publication stats