A project presentation on design test control a robotic arm
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A project presentation on design test control a robotic arm l.jpg
A Project Presentation On“Design, Test & Control a Robotic Arm”

By Sajid Naeem

Guide: Z B Pathan

Department of Electronic Science

AKI’s Poona College of Arts, Science & Commerce

Camp, Pune- 411001


An overview of presentation l.jpg

  • Basics of Mechatronics

  • Study of Electrical motors & Types

  • Design & Development of Robotic Arm

  • Features & application

  • Acknowledgment & References

An Overview of Presentation



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Mechatronics

Fig: Mechatronics System



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Electrical motor

  • “An actuator which converts electrical signal into rotation”.


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Types of motors

  • AC Motor

  • DC Motor

  • Stepper Motor

  • Servo Motor



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Types of Relay

  • Reed Relay

  • Latching Relay

  • Polarized Relay

  • Machine Tool Relay



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Block diagram: Robotic Arm

Fig: Block diagram of Robotic Arm



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Hardware

  • PC

  • Target Board of microcontroller

  • Motor driver circuit board

  • RS232 Cable

  • Power Supply

  • Mechanical Assembly of Robotic Arm


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Software

  • Kiel51 Compiler

  • Proteus 6.9 Simulator

  • Mc-Flash Programmer

  • Flash Magic Programmer

  • Express PCB

  • Delay Calculator



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PCB Design

Fig1: Component layer of Target board PCB






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START

INITIALIZATION: UP & RELEASE

DOWN

HOLD

UP

LEFT

DOWN

RELEASE

UP

LEFT

STOP


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FORWARD:

SETB P1.0

CLR P1.1

SETB P1.2

CLR P1.3

RET

BACKWARD:

CLR P1.0

SETB P1.1

CLR P1.2

SETB P1.3

RET

RIGHT:

SETB P1.0

CLR P1.1

CLR P1.2

SETB P1.3

RET

LEFT:

CLR P1.0

SETB P1.1

SETB P1.2

CLR P1.3

RET

UP:

SETB P1.5

CLR P1.4

LCALL DELAY

LCALL STOP

LCALL DELAY_STOP

RET

DOWN:

CLR P1.5

SETB P1.4

LCALL DELAY

LCALL STOP

LCALL DELAY_STOP

RET

org 0000h

main:

lcall down

lcall hold

lcall up

lcall LEFT

lcall delay

lcall stop

lcall down

lcall release

lcall up

lcall RIGHT

lcall delay

lcall stop

jmp $


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HOLD:

SETB P1.6

CLR P1.7

LCALL DELAY_1_SEC

LCALL STOP

LCALL DELAY_STOP

RET

STOP:

MOV P1,#0

LCALL DELAY_STOP

RET

DELAY_STOP:

MOV R5, # 72

MOV R6, # 180

MOV R7, # 1

DLOOP1:

DJNZ R5, DLOOP1

DJNZ R6, DLOOP1

DJNZ R7, DLOOP1

RET

UP:

SETB P1.5

CLR P1.4

LCALL DELAY_1_SEC

LCALL STOP

LCALL DELAY_STOP

RET

DOWN:

CLR P1.5

SETB P1.4

LCALL DELAY

LCALL STOP

LCALL DELAY_STOP

RET

RELEASE:

CLR P1.6

SETB P1.7

LCALL DELAY_1_SEC

LCALL STOP

RET

DELAY:

MOV R5, # 244

MOV R6, # 1

MOV R7, # 8

DLOOP:

DJNZ R5, DLOOP

DJNZ R6, DLOOP

DJNZ R7, DLOOP

RET

RET

END




Mechanical assembly l.jpg
Mechanical Assembly

Fig: Base with robotic arm part




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Features

  • The robot arm has two degree of freedom

  • It has two type of motion

  • It is controlled by microcontroller P89C51RD2

  • It consist of DC motor to control its speed

  • It can carry weight up to 500gm

  • It has ISP (in system programming) to modify or to change program on board

  • It has ULN2004 current driver


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Applications

  • Pick and place

  • Loading and unloading

  • Inserting pin into hole

  • Automated loading

  • Industrial carrier robot

  • Welding

  • Molding


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Acknowledgement

We have great pleasure in presenting this project report on “Design & Test of Robotic”. We express our sincere thanks and gratitude to our project guide Prof. Z B Pathan (HOD), Prof M Rizwan, Prof Priya Frances and Prof S Waseem for their valuable guidance and providing us with necessary help whenever required by us throughout our project work. They helped us to have deeper insight in the concept of project and related areas.


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Finally we extend our thanks to Principal Shaikh Anwar and Vice Principal Prof. G M Naziruddin for providing necessary facilities in the department for the compilation of this project work.

  • SAJID NAEEM

  • FARIHA GAIBI


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References and Vice Principal Prof. G M Naziruddin for providing necessary facilities in the department for the compilation of this project work.

  • BOOKS:

    1.The 8051 microcontroller & Embedded System

    ( Mazidi , Pearson Education ,III edition)

    2.Mechatronics Principle and Applications

    (Godfrey Onwobolu, Pearson Education)

    3.Embedded System

    ( Rajkamal, Pearson Education, II edition)

    4. .Introduction to Robotics

    (Vikram Kapila, Pearson Education,IV Edition)


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  • Website: and Vice Principal Prof. G M Naziruddin for providing necessary facilities in the department for the compilation of this project work.

  • http://mechatronics.poly.edu

  • http://www.roboticswikipedia.com

  • http://www.mecatronicswikipedia.com

  • http://www.datasheets.com

  • http://www.J2RScientific.com

  • http://www.expresspcb.com

  • http://www.kiel51.com

  • http://www.8051microcontroller.com


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