Pick And Place Robot Mechanism Ppt Download For Windows
Toccara Delacerda
Abstract With the advancement in mechatronics era the wireless communication will play a vital role in robotic applications. Throughout the history of robot development, most of the subjects are based on wheeled mobile robots and are moving on the floor. Here, a different kind of robot design i.e., rope climbing robot. In the past different engineers and researcher developed robots capable of climbing for various purposes. In this paper we have developed a robot capable of rope climbing in vertical direction and has ability to pick blocks with the help of aluminum jaws, the robot is capable of picking up objects. The Robot runs on Caterpillar Tracks which gives advantages like better floatation and smoother rides. The Robot is controlled manually with the help of 2.4 G Hz transmitter Receiver Pair. Hence the developed robot could be a good option for pick and place operations in warehouses.
Keywords Robotics, rope climbing mechanism, pick and place robot, Smartelex motor driver, FS-i6x, tri-pulley climbing mechanism, scissor based climbing mechanism, Johnson motor, lipo battery, wireless robot
The objective here was to create a robot capable of climbing rigid or flexible elements such as ropes, pipes, etc. with the functionality to pick and place objects in correct space. The robot is to be controlled wirelessly by means of manual input via a transmitter. It has to be reliable and work effortlessly to achieve the users needs. In terms of application, a wiper mechanism can be mounted on the robot which can be used to clean surfaces. The developed robot could be a good option for pick and place operations in warehouses.
The older mechanism was heavy and placed with high amount of offset from its actuator, which caused bending the motor shaft (actuator). Due to the longer length of gripper fingers, and longer offset placement of arm, the work envelope of the robot had become significantly large, which increased the complexity of controlling the robot.
The redesigned chassis has closed shape type cross section and hence is able to support the load by efficiently distributing the load in all parts of the chassis. This chassis also has been integrated with fenders used to keep the caterpillar tracks in place while in motion and also to act as a mounting surface for rope climbing mechanism.
The complete redesign of chassis allowed for better suited placement of rope climbing mechanism, pick and place mechanism, control block and batteries. The pick and place mechanism could be moved forward resulting in shortening in the dimensions of gripper and providing with enough room for the placement of other components.
With the rope climbing mechanism on top, the space between chassis and rope climbing mechanism can used for control block which includes multiple motor driver PCBs and receiver. Additional space below the robot is also present and remains empty to add necessary circuitry in case of added functionalities explored later in this paper.
The robot is being controlled by wireless means by an operator. FS-i6X is a 10-channel transmitter that works on a frequency of 2.4 GHz. It has 2 joysticks with 2 channels each, out of which one joystick is used to control the robot in XY- plane. The other joystick is used to control the pick and place mechanism where one channel is used to elevate or lower the arm, while another channel is used to open and close the gripper.
It also has two 3-position switches, two 2-position switches and 2 potentiometers. The two 3-position switches are used to move the robot up and down while climbing rope and engaging/disengaging rope climbing mechanism respectively.
The mechanisms and chassis of this robot could be used individually to perform many tasks or build robots with different capabilities, for example, placement of a FPV camera as an end effector can create a robot with surveillance capabilities and the small size of robot can enable the robot to be used in tight spaces such as pipes for deep inspections.
Over the years robots have proven to be an important helping hand for humans, reducing human effort. Robots have variety of applications in mechanical industry. Here we have studied and tried to design a robot which can climb ropes and transfer objects from one place to another. We designed two robots wherein in the first design we encountered difficulties and limitations with Climbing mechanism, Chassis strength, and Orientation of robot on rope. We fixed them in our revised design.
The success of a robotic pick and place task depends on the success of the entire procedure: from the grasp planning phase, to the grasp establishment phase, then the lifting and moving phase, and finally the releasing and placing phase. Being able to detect and recover from grasping failures throughout the entire process is therefore a critical requirement for both the robotic manipulator and the gripper, especially when considering the almost inevitable object occlusion by the gripper itself during the robotic pick and place task. With the rapid rising of soft grippers, which rely heavily on their under-actuated body and compliant, open-loop control, less information is available from the gripper for effective overall system control. Tackling on the effectiveness of robotic grasping, this work proposes a hybrid policy by combining visual cues and proprioception of our gripper for the effective failure detection and recovery in grasping, especially using a proprioceptive self-developed soft robotic gripper that is capable of contact sensing. We solved failure handling of robotic pick and place tasks and proposed (1) more accurate pose estimation of a known object by considering the edge-based cost besides the image-based cost; (2) robust object tracking techniques that work even when the object is partially occluded in the system and achieve mean overlap precision up to 80%; (3) contact and contact loss detection between the object and the gripper by analyzing internal pressure signals of our gripper; (4) robust failure handling with the combination of visual cues under partial occlusion and proprioceptive cues from our soft gripper to effectively detect and recover from different accidental grasping failures. The proposed system was experimentally validated with the proprioceptive soft robotic gripper mounted on a collaborative robotic manipulator, and a consumer-grade RGB camera, showing that combining visual cues and proprioception from our soft actuator robotic gripper was effective in improving the detection and recovery from the major grasping failures in different stages for the compliant and robust grasping.
Figure 2. The top-left is the setup of the proposed robotic pick and place platform, with a collaborative robotic arm and a proprioceptive soft robotic gripper with inner soft pneumatic bellow actuators backed by rigid frames, and pressure sensors for monitoring bellow's inner pressure. A consumer-grade RGB camera is used for visual detection and tracking. The bottom is the proposed system pipeline with feedbacks of both visual and proprioceptive cues.
Figure 11. Experiments of the proposed three-phase failure detection in the real-time pick-and-place tasks. (A) Detection of target position changes. (B) Detection of grasping failure. (C) Detection of failures when picking up and moving to the destination.
The branch of technology that deals with the design, construction, operation, and application of robots,[4] as well as computer systems for their control, sensory feedback, and information processing is robotics. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behavior, or cognition. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics. These robots have also created a newer branch of robotics: soft robotics.
Robots have replaced humans[9] in performing repetitive and dangerous tasks which humans prefer not to do, or are unable to do because of size limitations, or which take place in extreme environments such as outer space or the bottom of the sea. There are concerns about the increasing use of robots and their role in society. Robots are blamed for rising technological unemployment as they replace workers in increasing numbers of functions.[10] The use of robots in military combat raises ethical concerns. The possibilities of robot autonomy and potential repercussions have been addressed in fiction and may be a realistic concern in the future.
A literate or 'reading robot' named Marge has intelligence that comes from software. She can read newspapers, find and correct misspelled words, learn about banks like Barclays, and understand that some restaurants are better places to eat than others.[77]
Modular robots are a new breed of robots that are designed to increase the use of robots by modularizing their architecture.[98] The functionality and effectiveness of a modular robot is easier to increase compared to conventional robots. These robots are composed of a single type of identical, several different identical module types, or similarly shaped modules, which vary in size. Their architectural structure allows hyper-redundancy for modular robots, as they can be designed with more than 8 degrees of freedom (DOF). Creating the programming, inverse kinematics and dynamics for modular robots is more complex than with traditional robots. Modular robots may be composed of L-shaped modules, cubic modules, and U and H-shaped modules. ANAT technology, an early modular robotic technology patented by Robotics Design Inc., allows the creation of modular robots from U and H shaped modules that connect in a chain, and are used to form heterogeneous and homogenous modular robot systems. These "ANAT robots" can be designed with "n" DOF as each module is a complete motorized robotic system that folds relatively to the modules connected before and after it in its chain, and therefore a single module allows one degree of freedom. The more modules that are connected to one another, the more degrees of freedom it will have. L-shaped modules can also be designed in a chain, and must become increasingly smaller as the size of the chain increases, as payloads attached to the end of the chain place a greater strain on modules that are further from the base. ANAT H-shaped modules do not suffer from this problem, as their design allows a modular robot to distribute pressure and impacts evenly amongst other attached modules, and therefore payload-carrying capacity does not decrease as the length of the arm increases. Modular robots can be manually or self-reconfigured to form a different robot, that may perform different applications. Because modular robots of the same architecture type are composed of modules that compose different modular robots, a snake-arm robot can combine with another to form a dual or quadra-arm robot, or can split into several mobile robots, and mobile robots can split into multiple smaller ones, or combine with others into a larger or different one. This allows a single modular robot the ability to be fully specialized in a single task, as well as the capacity to be specialized to perform multiple different tasks.
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