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TRANSCRIPT
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PROJECT REPORT
ON
INDUSTRIAL ROBOT
Submitted by:BRIJINDER KUMAR 009236104633) SACHIN KUMAR (009236104690)
ANKUR SAINI (009236127886) AMAN BANSAL (009236104622)
Submitted to: SubmitteddateMr. H D SEKHRIHODDepartment of Electronic & Communication.
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CERTIFICATE
This is to certify that the project entitled
INDUSTRIAL
ROBOT
Submitted by Mr. H. D. SEKRI, Mrs. SIMRANJEET
KAUR towards the partial fulfilment of the requirement for
the award of thediploma of Electronics & Communication
Engineering is a record of a work submitted has inmy
opinion reached a level required for being acceptedforexamination.
GUIDE:
Mrs. SIMRANJEET KAUR
Class Incharge
Electronics Department,
Govt. Polytechnic College, Khunimajra
MOHALI .
COUNTERSIGNED:
Mr. HARI DAS SEKRIHead of Department
,Electronics & Communication Engg.
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ACKNOWLEDGEMENT
We are grateful to the department of Electronics Engineering for
their kind cooperation and help in accomplishment of this project.
We would especially like to thank our special advisor Mr. H. D.
Sekri head of department of Government polytechnic college,
khunimajra Mohali and Mrs. Simranjeet kaur class incharge ECE
Department of for their perspective guidance which helped us
greatly & pointed us in right direction with this project
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INTRODUCTION
Robotics
The word robotics, meaning the study of robots was coined by
Isaac Asimov. Robotics involves elements of both mechanical and
electrical engineering, as well as control theory, computing and now
artificial intelligence (Selig, 1992). According to the Robot Institute
of America, A robot is a reprogrammable, multifunctionalmanipulator designed to move materials, parts, tools or specialized
devices through variable programmed motions for the performance
of a variety of tasks(Robotics Research Group, ) The fact that a
robot can be reprogrammed is important: it is definitely a
characteristic of robots.
Activities of daily life (ADL) such as picking up a telephone or
drinking a cup of coffee are taken very much for granted by most
people. Humans have an innate ability to exist in and manipulate
environments. Moving from one location to another, acquiring, and
manipulating an object is something most of us do without much
effort. We are so adept at these tasks that we almost forget how
complex they can be. However, people with neuromuscular
impairments (e.g. spinal cord injury, stroke, multiple sclerosis, etc.)
may be confined to wheelchairs and rely on others for assistance.
For them, executing an ADL is anything but trivial. Traditionally, a
dedicated caregiver is needed, thus the disabled person cannot
absolutely control when an ADL is aided or performed for them.
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Prior research has shown that users are very interested in tasks that
occur regularly in unstructured environments. These include pick-
and-place tasks such as lifting miscellaneous objects from the floor
or a shelf [1]. Our goal is to provide methods for independent
manipulation of unstructured environments to wheelchair-confined
people using a Rf-car-mounted robot arm for manipulation. We want
a simple interface where the user can specify the end goal such as
picking up a glass of water by pointing to the glass. Another
example is navigating to a hotel room. From the hotel lobby, we
need to navigate to the elevator lobby, call for the elevator, locate
and push the desired elevator button, proceed to the hotel room
itself, open the door and enter. However, instead of micromanaging
each section of the task, the user could simply specify Room 219
as their destination. In this initial phase of research, we investigate
the use of a visual interface as a source of input.
Introduction of Robotics
The word robot was derived from Czech word robot a which meansa forced labourer then later a well known Russian science fiction
writer Isaac Asimov coined the word robotics. From there on various
different developments are being successfully done till date in the
field of robotics in the form of teleported manipulators,
humanoids ,micro robots etc. as the trend of the industry is moving
from the current state of automation to robotization . Thus the robot
technology is advancing rapidly. Now a days the most commonly
used robots in industry is a robotic manipulator or a robotic arm
.Robotic arm is basically an open closed kinematics chain of rigid
links interconnected by movable joints. The end of the arm is
connected to the end-effectors. The end-effecter may be a tool and
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its fixture or a gripper or any other device to do the work. The end-
effecter is similar to the human hand with or without fingers.
Type of robot
Jointed arm on RF car configuration.
OBJECTIVE
The primary objective is to make the Robotic arm, which comprises
of three gear motors, to interface with the In Material published as
part of this publication, either on-line or in print, is copyrighted.
Permission to make digital or paper copy of part or all of these
works for personal or classroom use is granted without fee provided
that the copies are not made or distributed for profit or commercial
advantage AND that copies 1) bear this notice in full and 2) give thefull citation on the first page. It is permissible to abstract these
works so long as credit is given. To copy in all other cases or to
republish or to post on a server or to redistribute to lists requires
specific permission and payment of a fee. Development of a
Microcontroller Based Robotic Arm atmel 8051-based micro-
controller. It provides more interfaces to the outside world and has
larger memory to store many programs. Scope The scope of this
work involves confirming the 8051 micro-controller Input/Output
(I/O) signals are compatible with that of the robotic arm stepper
motors and testing of the robots motor signals through
programming the 8051 microcontroller. Assembly programming is
used to develop the programs for the EPROM 2732 on the 8051
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micro-controller platform that takes robots motor signal as I/O and
controls the robot operation programmatically. We have assumed
that after figuring out the interface issues for the Robot with the
8051 microcontroller, the same knowledge can be extended to
make very complex robots with enhanced functionality.
ABSTRACT
Now days in this fast growing industrial age every company needs
speed in manufacturing to cope up with the customers
requirements. Every industrialist cannot afford to transform his unit
from manual to semiautomatic or fully automatic as automation is
not that cheap in India. The basic objective of our project is to
develop a versatile and low cost robotic arm which can be utilized in
any industry to eliminate this problem. Our robotic arm can be used
in number of application by changing the program of controller and
the structure is designed in such a way that it is capable to lift light
loads but can also lift medium loads. Our robotic manipulator would
be used mainly in the packaging department and automatic
assembly lines.
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BLOCK DIAGRAM
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CIRCUIT DIAGRAM
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Remote circuit
RECEIVER CIRCUIT
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Receiver circuit
WORKING OF CIRCUIT
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This is the control panel of the system as it oversees the operations
of the mechanical arm, The MCU 8051 of the control unit acts as the
brain of the control panel as it coordinates all the activities of the
other devices. When power (+5V) was supplied to the control unit,
the MCU started off by loading the program from the EPROM
M2732A, interpreted and executed the instruction codes through
the various operational principles which had been de-scribed in
details in chapter three (session 3.2). The 8051 then sends signal
to the stepper motor which moves step. The stepper motor (M3) at
the wrist first moves five times (45) turning the gears to cause adownward movement of the hand. The stepper motor at the
shoulder (M2) moves next stepping five times (45) and makes the
connected gears to cause the movement of the arm 45 forward.
Then the stepper motor at the base(M1moves either ten times (90)
or twenty times (180), depending on the button pressed, causing
the whole structure to turn from right to left( or vice versa) through
the connected gears. The magnetic coil resting on the hand
becomes magnetized immediately the last gear on the hand stops
moving. Then, it magnetizes (picks) any magnetic material it can
find and then M3 and M2 moves the arm up while M1 moves
(rotates the structure) from left to right (or vice versa) and then the
8051 demagnetizes the magnetic coil thereby making the hand to
drop the metallic object.
Results
This work is able to successfully accomplish the defined
functionality. A sample robot which can rotate, magnetize an object,
lower and raise its arm, by being controlled by the 8051
microcontroller is built successfully. The 8051-development board is
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CIRCUIT COMPONENT
Remote section
1.RF MODULE
2.HT12E, HT12D
3.Push switch(10)
4.Microcontroller(1)
5. Resistor (20).
6.Capacitor(5)
7.Toggle switch(1)-
8. Crystal(1)
9.Ic 7805
Car section
1. Sip(1)
2. Toggle switch(1)
3. Resistor(10)
4. Capacitor(5)-
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5. Crystal(1)
6. Microcontroller(1)
7. Ic 7805
8. L293 dne(4)
9. L.E.D.
10. Gear motor(7*300/pc)
11. P.C.B.
12. Connector
13.Connecting ,ant wire(5-mt)
14. Solder wire
Robot mechanism
1. Aluminum sheet
2. Al. Pipe Al. Strip
3. Al. Clamp
4. wheel
5. Battery (2)
6. Screws
7. Grip, Welding, drilling
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DESCRIPTION OF COMPONENT
Power Supply
The RCT-433-AS is designed to operate from a 1.5- 12V power supply. It is crucial
that this power supply be very quiet. The power supply should be bypassed using a
0.01uF low-ESR ceramic capacitor and a 4.7uF tantalum capacitor. These capacitors
should be placed as close to the power pins as possible.
RF Based Wireless Remote using RX-TX MODULES (434MHz.)
Summary of the project
This circuit utilizes the RF module (Tx/Rx) for making a wirelessremote, which could be used to drive an output from a distantplace. RF module, as the name suggests, uses radio frequency tosend signals. These signals are transmitted at a particular frequencyand a baud rate. A receiver can receive these signals only if it isconfigured for that frequency.A four channel encoder/decoder pair has also been used in thissystem. The input signals, at the transmitter side, are taken throughfour switches while the outputs are monitored on a set of four LEDscorresponding to each input switch. The circuit can be used fordesigning Remote Appliance Control system. The outputs from thereceiver can drive corresponding relays connected to any .
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DescriptionThis radio frequency (RF) transmission system employs
Amplitude Shift Keying (ASK) with transmitter/receiver (Tx/Rx) pair
operating at 434 MHz. The transmitter module takes serial input and
transmits these signals through RF. The transmitted signals are
received by the receiver module placed away from the source of
transmission.
The system allows one way communication between two nodes,
namely, transmission and reception. The RF module has been used
in conjunction with a set of four channel encoder/decoder ICs. Here
HT12E & HT12D have been used as encoder and decoder
respectively. The encoder converts the parallel inputs (from the
remote switches) into serial set of signals. These signals are serially
transferred through RF to the reception point. The decoder is used
after the RF receiver to decode the serial format and retrieve the
original signals as outputs. These outputs can be observed on
corresponding LEDs.
Encoder IC (HT12E) receives parallel data in the form of address bitsand control bits. The control signals from remote switches along
with 8 address bits constitute a set of 12 parallel signals. The
encoder HT12E encodes these parallel signals into serial bits.
Transmission is enabled by providing ground to pin14 which is
active low. The control signals are given at pins 10-13 of HT12E. The
serial data is fed to the RF transmitter through pin17 of HT12E.
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Transmitter, upon receiving serial data from encoder IC (HT12E),
transmits it wirelessly to the RF receiver. The receiver, upon
receiving these signals, sends them to the decoder IC (HT12D)
through pin2. The serial data is received at the data pin (DIN, pin14)
of HT12D. The decoder then retrieves the original parallel format
from the received serial data.
When no signal is received at data pin of HT12D, it remains in
standby mode and consumes very less current (less than 1 A) for a
voltage of 5V. When signal is received by receiver, it is given to DIN
pin (pin14) of HT12D. On reception of signal, oscillator of HT12D
gets activated. IC HT12D then decodes the serial data and checks
the address bits three times. If these bits match with the local
address pins (pins 1-8) of HT12D, then it puts the data bits on its
data pins (pins 10-13) and makes the VT pin high. An LED is
connected to VT pin (pin17) of the decoder. This LED works as an
indicator to indicate a valid transmission. The corresponding output
is thus generated at the data pins of decoder IC. A signal is sent bylowering any or all the pins 10-13 of HT12E and corresponding
signal is received at receivers end (at HT12D). Address bits are
configured by using the by using the first 8 pins of both encoder and
decoder ICs. To send a particular signal, address bits must be same
at encoder and decoder ICs. By configuring the address bits
properly, a single RF transmitter can also be used to control
different RF receivers of same frequency.
To summarize, on each transmission, 12 bits of data is transmitted
consisting of 8 address bits and 4 data bits. The signal is received at
receivers end which is then fed into decoder IC. If address bits get
matched, decoder converts it into parallel data and the
corresponding data bits get lowered which could be then used to
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drive the LEDs. The outputs from this system can either be used in
negative logic or NOT gates (like 74LS04) can be incorporated at
data pins.
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COMPONENTS USED
1. HT12D DECODER
Download Datasheet: HT12D.pdf
HT12D IC comes from HolTek Company. HT12D is a decoder integrated circuit that
belongs to 212 series of decoders. This series of decoders are mainly used for remote
control system applications, like burglar alarm, car door controller, security system
etc. It is mainly provided to interface RF and infrared circuits. They are paired with
212 series of encoders. The chosen pair of encoder/decoder should have same number
of addresses and data format. In simple terms, HT12D converts the serial input into
parallel outputs. It decodes the serial addresses and data received by, say, an RF
receiver, into parallel data and sends them to output data pins. The serial input data is
compared with the local addresses three times continuously. The input data code is
decoded when no error or unmatched codes are found. A valid transmission in
indicated by a high signal at VT pin. HT12D is capable of decoding 12 bits, of which
8 are address bits and 4 are data bits. The data on 4 bit latch type output pins remain
unchanged until new is received. Pin Diagram
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Pin Description Pin
Number
Function Name
1 8 BIT ADDRESS
PINS FOR INPUT
A0
2 A13 A2
4 A3
5 A4
6 A5
7 A6
8 A7
9 GROUND (0V) GROUND
10 4 BIT
DATA/ADDRESSPINS FOR OUTPUT
D0
11 D1
12 D2
13 D3
14 SERIAL DATA
INPUT
INPUT
15 OSCILLATOR
OUTPUT
OSC 2
16 OSCILLATOR
INPUT
OSC 1
17 VALID
TRANSMISSION,
ACTIVE HIGH
VT
18 SUPPLY VOLTAGE;
5V (2.4 12V)
Vcc
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Transmitter section (Remote controller)
Remote access is the ability to get access to a network from a
remote distance. It is the controller part of our CAR. It givesdirections to the vehicle whatever we want to do with our vehicle
like to move forward or reverse, to turn left or right, to adjust the
direction of the ARM we have placed on it to record several
locations or sites. It sends various codes to the receiver section
with the help of FM transmitter we have connected on it
wirelessly. It consists of
RF Transmitter
HT12E IC
A Voltage Regulator
8 Push Buttons
A communication kit of 8051 microcontroller
Selection of motor
Many different motors are available in the market like servo
motors, stepper motor car synchronous motors, dc motors with
and with out gears. These different motors are used according to
their applications and requirements for e.g. If we want high
torque and precise position we need to use dc gears motors, if we
want to only position and if high torques not required then
stepper motors are used .Dc geared motors are used where we
need high torque .For only smooth motion dc motors are used
.Here we have used stepper motor as though servo are best
suited for robotics it wasnt economically viable .Stepper motors
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are of many types for e.g. Variable reluctance motors, permanent
magnet motors and hybrid motors.
Introduction of D.C motor:-
Now a days DC motors plays a vital role in most of the industrial
areas, it can be seen in most of the electronic devices. They are
mainly used for the mechanical movements of physical
applications such as rolling the bundle of sheets or CD drives, lifts
etc.
Many methods evolved to control the revolution of a motor. DC
motors can be controlled either by software or directly by
hardware. Software controlling needs computers which are bulky
and common man cannot afford for it, so hardware controls are in
use. Even in hardware if it is programmable device then it is
preferred because it can be modeled according to the
requirements of the user. Advantages of using uc over other
controlling devices for controlling the DC motor are given below:
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1. SPEED:The execution of an instruction in PIC IC is very fast (in
micro seconds) and can be changed by changing the oscillator
frequency. One instruction generally takes 0.2 microseconds.
2. COMPACT: The PIC IC will make the hardware circuitry
compact.
3. RISC PROCESSOR: The instruction set consists only 35
instructions.
4. EPROM PROGRAM MEMORY: Program can be modified and
rewritten very easily.
5. INBUILT HARDWARE SUPPORT: Since PIC IC has inbuilt
programmable timers, ports and interrupts, no extra hardware is
needed.
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6. POWERFUL OUTPUT PIN CONTROL: Output pins can be
driven to high state, using a single instruction. The output pin can
drive a load up to 25mA.
7. INBUILT I/O PORTS EXPANSIONS: This reduces the extra
ICs which are needed for port expansion and port can be
expanded very easily.
8. INTEGRATION OF OPERATIONAL FEATURES: Power on
reset and brown/out protection ensures that the chip operates
only when the supply voltage is within specification. A watchdog
timer resets if the chip ever malfunctions and deviates from its
normal operation.
3
Working Principle
It is based on the principle that when a current-carrying conductor
is placed in a magnetic field, it experiences a mechanical force
whose direction is given by Fleming's Left-hand rule and whose
magnitude is given by Force, F = B I l Newton Where B is the
magnetic field in weber/m2.I is the current in amperes and is the
length of the coil in meter. The force, current and the magnetic
field are all in different directions. If an Electric current flows
through two copper wires that are between the poles of a
magnet, an upward force will move one wire up and a downward
force will move the other wire down.
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The loop can be made to spin by fixing a half circle of copper
which is known as commutator, to each end of the loop. Current is
passed into and out of the loop by brushes that press onto the
strips. The brushes do not go round so the wire do not get
twisted. This arrangement also makes sure that the current
always passes down on the right and back on the left so that the
rotation continues. This is how a simple Electric motor is made.
Figure 1: Force in DC Motor
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Figure 2 : Magnetic Field in DC Motor
Figure 3 : Torque in DC Motor
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Figure 4 : Current Flow in DC Motor
Calculations for torque
Motor ratings:-
VOLTAGE =12V
CURRENT =0.6A
GEAR RATIO =1:20
1) POWER:-P =V*I=7.2 W
2) Angular speed:- =2 N=2*3.14*38=3.97 rps
3) Torque:-T=0.8*P/ (because 0.8=motor efficiency)=1.45 Nm
By using the formula T=F*R the load lifting capacity of our motor
is
0.328kg.
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Control of motor
There are mainly three types of controls which are used:-
1) Micro controller IC
Circuit for controlling four d.c motors
This circuit is mainly used to drive low voltage d.c motors. It takes
the input from the controller side and according to the number of
pulses given it controls the motor. Plc is used to control the
circuit. It contains L293D ic which is the main driver of the motor.
When dc power is given to the circuit it gets converted into 12v
with the help of ic7812.this 12v are converted into 6v with the
help of ic7806. this 6v is use as the input voltage. There are four
enables in the icL293D which I used to turn on/off the ic.Vcc1 is
the supply voltage and Vcc2 is the output supply voltage for the
motor. This circuit can run motor in both the directions
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Circuit for controlling four dc motors:-
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L293D (IC) INTEGRATED CIRCUIT
1. L293D ic:- it is the quadruple current half h driver. It is
designed to provide bidirectional current from voltages 4.5
to36 volts. It is designed to drive inductive loads such as
relays solenoids dc motors. All inputs are compatible. Each
output is complete totem pole with darling ton transistor
sink and a suede Darlington source. It has two enables.
When enables are high the driver associated to it r high and
vice versa.
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DESCRIPTION
The L293B and L293E are quad push-pull drivers capable
of delivering output currents to 1Aperchan-nel. Each
channel is controlled by a TTL-compatible logic input and
each pair of drivers (a full bridge) is equipped with an
inhibit input which turns off all four
transistors .A separate supply input is provided for the
logic so that it may be run off a lower voltage to reduce
dissipation. Additionally, the L293E has external
connection of sensing resistors, for switch mode control.
The L293Band L293Earepackagein 16 and 20-pin plastic
DIPs respectively both use the four centre pins to
conduct heat to the printed circuit board.
FIG.6 L293D IC
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Internal diagram of L293D IC
CIRCUIT DIAGRAM FOR CONTROLLING D.C MOTORS
As shown in fig. the output from plc goes to pin number 2 of the ic
which drives the motor in forward direction. When the motor is to
be driven in reverse direction the input from plc is given to pin
number 7.second motor can be run using pin number 15 and 10
in forward and reverse direction. The internal circuit shows the
working similar as a h bridge circuit.
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MOUNTING OF HEAT SINK
The external heat sink or printed circuit copper area must be
connected to electrical ground.
MOUNTING INSTRUCTIONS
The Rth j-amb of the L293B and the L293Ecan be reduced by
soldering the GND pins to a suitable copper area of the printed
circuit board as shown in figure 12 or to an external heat sink
(figure 13).During soldering the pins temperature must not
exceed 260oC and the soldering time must not be longer than 12
seconds. The external heat sink or printed circuit copper area
must be connected to electrical ground. Figure 12 :Example of
P.C. Board Copper Area which is Used as Heat sink Figure 13
:External Heat sink Mounting Example (Rth = 30oC)
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IC L293
The L293 and L293D are quadruple high-current half-H drivers.
The L293 is designed to provide bidirectional drive currents of up
to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to
provide bidirectional drive currents of up to 600-mA at voltages
from 4.5 V to 36 V. Both devices are designed to drive inductive
loads such as relays, solenoids, dc and bipolar stepping motors,
as well as other high-current/high-voltage loads in positive-supply
applications. All inputs are TTL compatible. Each output is a
complete totem-pole drive circuit, with a Darlington transistor
sink and a pseudo-Darlington source. Drivers are enabled in pairs,
with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4
enabled by 3,4EN. When an enable input is high, the associated
drivers are enabled and their outputs are active and in phase with
their inputs. When the enable input is low, those drivers are
disabled and their outputs are off and in
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7805 IC
It converts 12 v to 5 v in order to protect the circuit in situations
of over current over voltage conditions. This is used for
protection.
FEATURES
1. Internal Thermal Overload Protection.
2. Internal Short Circuit Current Limiting.
3. Satisfies IEC-65 Specification.
4. Package is TO-220AB
5. Output current in excess of 1A
6. Internal thermal overload protection
7. No external components required
8. Output transistor safe area protection
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9. Internal short circuit current limit
10. Available in the aluminum TO-3 package
ITEM OUTPUT VOLTAGE UNIT
KIA7805AP 5 VKIA7806AP 6 VKIA7807AP 7 VKIA7808AP 8 VKIA7809AP 9 VKIA7810AP 10 VKIA7812AP 12 VKIA7815AP 15 VKIA7818AP 18 V
KIA7820AP 20 VKIA7824AP 24 V
General Description
The LM78XX series of three terminal regulators is available with
several fixed output voltages making them useful in a wide range
of applications. One of these is local on card regulation,
eliminating the distribution problems associated with single point
regulation. The voltages available allow these regulators to be
used in logic systems, instrumentation, HiFi, and other solid state
electronic equipment. Although designed primarily as fixed
voltage regulators these devices can be used with external
components to obtain adjustable voltages and currents. The
LM78XX series is available in an aluminium TO-3 package which
will allow over 1.0A load current if adequate heat sinking is
provided. Current limiting is included to limit the peak output
current to a safe value. Safe area protection for the output
transistor is provided to limit internal power dissipation. If internal
power dissipation becomes too high for the heat sinking provided,
the thermal shutdown circuit takes over preventing the IC from
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overheating. Considerable effort was expanded to make the
LM78XX series of regulators easy to use and minimize the number
of external components. It is not necessary to bypass the output,
although this does improve transient response. Input bypassing is
needed only if the regulator is located far from the filter capacitor
of the power supply. For output voltage other than 5V, 12V and
15V the LM117 series provides an output voltage range from 1.2V
to 57V.
Voltage Range
LM7805C 5V
LM7812C 12V
LM7815C 15V
Micro-Controller
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A microcontroller is an entire computer manufactured on a single
chip Microcontrollers are usually dedicated devices embedded
within an application e.g. as engine controllers in automobiles and
as exposure and focus controllers in cameras. In order to serve
these applications, they have a high concentration of on chip
facilities such as serial ports, parallel input/output ports, timers,
counters, interrupt control, analog-to-digital converters, random
access memory, read only memory, etc. The I/O, memory, and on-
chip peripherals of a microcontroller are selected depending on
the specifics of the target application. Since microcontrollers are
powerful digital processors, the degree of control and
programmability they provide significantly enhances the
effective-ness of the application. Embedded control applications
also distinguish the microcontroller from its relative, the general-
purpose microprocessor. Embedded systems often require real-
time operation and multitasking capabilities. Real-time operation
refers to the fact that the embedded controller must be able to
receive and process the signals from its environment as they are
received. Multitasking is the capability to perform many functions
in a simultaneous or quasi-simultaneous manner.
The various components of the MCU shown in Figure 2 are
explained below: Random Access Memory (RAM): RAM is used for
temporary storage of data during run-time. ROM: ROM is the
memory which stores the program to be executed. SFR Registers:
Special Function Registers are special elements of RAM. Program
Counter: This is the "engine" which starts the program and points
to the mem-oryaddress of the instruction to be executed.
Immediately upon its execution, value of counter increments by
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The P89V51RD2 is an 80C51 microcontroller with 64 kB Flash
and 1024 bytes of data RAM. A key feature of the P89V51RD2 is
its X2 mode option. The design engineer can choose to run the
application with the conventional 80C51 clock rate (12 clocks per
machine cycle) or select the X2 mode (6 clocks per machine
cycle) to achieve twice the throughput at the same clock
frequency. Another way to benefit from this feature is to keep the
same performance by reducing the clock frequency by half, thus
dramatically reducing the EMI. The Flash program memory
supports both parallel programming and in serial In-System
Programming (ISP). Parallel programming mode offers gang-
programming at high speed, reducing programming costs and
time to market. ISP allows a device to be reprogrammed in the
end product under software control. The capability to field/update
the application firmware makes a wide range of applications
possible.
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Features
1. 80C51 Central Processing Unit
2. 5 V Operating voltage from 0 to 40 MHz
3. 64 kB of on-chip Flash program memory with ISP (In-System
Programming)
4. IAP (In-Application Programming)
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5. Supports 12-clock (default) or 6-clock mode selection via
software or ISP
6. SPI (Serial Peripheral Interface) and enhanced UART
7. PCA (Programmable Counter Array) with PWM and
Capture/Compare functions
8. Four 8-bit I/O ports with three high-current Port 1 pins (16
mA each)
9. Three 16-bit timers/counters
10. Programmable Watchdog timer (WDT)
11. Eight interrupt sources with four priority levels
12. Second DPTR register
13. Low EMI mode (ALE inhibit)
Development of a Microcontroller Based Robotic Arm
Control Logic: As the name implies, it which supervises and
controls every aspect of operations within MCU, and it cannot be
manipulated. It comprises several parts, the most important ones
including: instructions decoder, Arithmetical Logic Unit (ALU) and
Accumulator. A/D Converter: A/D stands for analog to digital. They
convert analog signals to digital signals. I/O Ports: To be of any
practical use, microcontrollers have ports which are connected to
the pins on its case. Every pin can be designated as either input
or output to suit user's needs. Oscillator: This is the rhythm
section of the MCU. The stable pace provided by this instrument
allows harmonious and synchronous functioning of all other parts
of MCU. Timers: timers can be used for measuring time between
two occurrences and can also behave like a counter. The
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Watchdog Timer resets the MCU every time it overflows, and the
program execution starts anew (much as if the power had just
been turned on). Power Supply Circuit: this powers the MCU.
(MikroElectronika, 2004). Methodology
The method employed in designing and constructing the robotic
arm are based the operational characteristics and features of the
microcontrollers, stepper motors, the electronic circuit diagram
and most importantly the programming of the microcontroller and
stepper motors.
key features
1. Low-Cost
2. 1.5-12V operation
3. 5mA current consumption at 3V
4. 0dBm output power at 3V
5. Small size: .25 x .4
6. 4800 baud operation
Conclusion
In this paper we have interfaced the robot with different kinds of
I/O devices and our method allows for storing more programs to
enhance more functionality. From our work, we deduced that in
comparison to humans, robots can be much stronger and are
therefore able to lift heavier weights and exert larger forces. They
can be very precise in their movements, reduce labor costs,
improve working conditions, reduce material wastage and
improve product quality (Mair 1988). This is why theyre very
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important in industries because the overall objective of industrial
engineering is productivity.
Selection of material for structure
For making any machine, materials used play very important role
because the strength and the rigidity of the structure depends on
the type of material used. There are many properties of material
which affect the working of the material like strength, rigidity,
vibration, damping etc. Basically, there are three materials used
for the structure which are aluminium
HARDWARE
Our choice of robotic arm is another commercially available
wheelchair mounted robotic arm the Manus Assistive Robotic
Manipulator (ARM), manufactured by exact dynamics [5]. The
Manus ARM has a two-fingered gripper end-effecter and is a
6+2DoF unit with encoders on its joints. A user may manually
control the Manus ARM by accessing menus via standard accessdevices, such as a keypad, a joystick, or a single switch. The Joint
menu mode allows the user to manipulate the Manus ARM by
moving its joints individually. The Cartesian menu mode allows
the user to move the gripper of the Manus ARM linearly through
the 3D xyz plane. In Cartesian mode, multiple joints may move
simultaneously in pre planned trajectories unlike the Joint mode.
In addition to manual control, the Manus ARM can be controlled
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by communication from a PC, and thus is programmable. As with
manual control, joints may move collaterally in Cartesian mode or
individually in Joint mode.
Aluminium
Pure aluminium is a silvery-white metal with many desirable
characteristics. It is light, non toxic (as the metal), nonmagnetic
and non sparking. It is decorative. It is easily formed, machined,
and cast. Alloys with small amounts of copper, magnesium,
silicon, manganese, and other elements have very useful
properties. Strength depends on purity. 99.996 per cent pure
aluminium has a tensile strength of about 49 mega Pascals
(MPa), rising to 700 MPa following alloying and suitable heat
treatment. Although not found free in nature,
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Aluminium
Aluminium flat strip
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Aluminium pipe
Aluminium is an abundant element in the earth's crust. A key
property is low density. Aluminium is only one-third the weight of
steel. Aluminium and most of its alloys are highly resistant to
most forms of corrosion. The metal's natural coating of aluminium
oxide provides a highly effective barrier to the ravages of air,
temperature, moisture and chemical attack. Aluminium is a
superb conductor of electricity. This property allied with other
intrinsic qualities has ensured the replacement of copper by
aluminium in many situations. Aluminium is non-magnetic and
non-combustible, properties invaluable in advanced industries
such as electronics or in offshore structures. Aluminium is non-
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toxic and impervious, qualities that have established its use in the
food and Packaging industries since the earliest times. Other
valuable properties include high reflectivity, heat barrier
properties and heat conduction. The metal is malleable and easily
worked by the common
Manufacturing and shaping processes.
SCREWS
Screw are used for making joint to one and another pieces of
aluminium sheet or any materials
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GRIPPER
We plan to use a different kind gripper that looks more appealing
with a motor and gearing system built right into the gripper
assembly. Allowing an automated open/close feature.
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MECHANICAL OPERATION OF ROBOT
1. The arm is having three joints same as human arm (wrist
movement, elbow movement, shoulder movement)
2. We have four switches to control the position of the arm. Along
with one supply on / off switch. Initially we will assume the rest
position of entire system, i.e. state when no object is placed.
3. Each control switch is having two functions. If it is operated in
one direction arm will move in one direction and vice versa.
4. Each movement is controlled with a motor through switch.
5. Motors are being supplied with two heavy duty batteries.
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6. For understanding operation, let us rename the two motors
used here. Let the name motor be M1, Now as object is placed,
control switch sw1 is operated to control the motor in one
direction it moves motor M1 in say clockwise direction due to
which whole arm moves towards picking platform. As it reaches
there, sw1 operating has to be stopped and now the same sw1 is
operated in anti-clockwise direction to hold the object by closing
jaw.
7. In the same way the other three control switches are being
operated to control the motor speed and arm position.
MOUTED TO THE CAR
By designing a mounting the system for the robotic car. we will
able to mount the robotic arm to a child-size robotic car for the
first time.
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Application
Industrial automated equipment carriers
Automated parcel carry robot
Second wave robotic reconnaissance operations
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