26-03-2012, 12:55 PM
FLEXIBLE ROBOTIC DESIGN FOR INDUSTRIAL AUTOMATION
[attachment=18946]
I.INTRODUCTION
Industrial robots have been used widely in manufacturing factories since the early 1960s.They also play a vital role in modern manufacturing process. To stay competitive,
factories are increasingly automating their production lines with Computer Integrated
II. PROPOSED FRAMEWORK
The proposed paper implies the construction of a multitasking robot which can distinguish various industrial operations. The various units of proposed framework are:
(i). Robotic Arm: The robotic arm is made up of Teflon which uses four degrees of freedom for performing these operations shown in fig1. The robotic motion is due to three stepper motors and a DC motor, incorporated at the base, shoulder, elbow and grippers respectively. The motor driver circuits are controlled by using ATMEL 89c51 microcontroller. This robot can also be manually controlled by flexible approach. Every stepper motor is directly coupled to a gear box to achieve the required torque. Spur and worm gears are directly coupled to the motors in a compounded fashion.
III.CONTROL ELECTRONICS
(i)Driver Circuit for Stepper Motor: A two phase stepper motor can be excited by passing a current through the individual windings on each of the four poles. Only a single ended power supply is required to operate the motor in the unipolar drive mode. A typical circuit is shown in fig .4 containing darlington pair transistors pairs for high current gain and free wheeling diodes providing a decay path for the winding current when the transistors are switched off. The individual frame gets the control signal ( ON/OFF) from a input buffer into which the command word is fetched.
IV.SOFTWARE IMPLEMENTATION
The software implementation in this design is the microcontroller programming (assembly language) involved in the automation. In this design, the robot distinguishes the jobs based on heights and performs two vital operations namely electroplating and acid wash. The algorithm includes calling of many subroutines such as reference, home, start sensing, electroplating, acid wash and unloading.The flow chart of program is shown in fig(7). As soon as the power supply unit is switched on the dc supply is feed to all the three stepper motors and the robot attains its reference position. From there the robot turns in clockwise position and attains its home position.Now the robot distinguishes the operations based on the sensors deflection.
CONCLUSION
We investigated robotic design principles using an evolutionary robotic system with reconfigurable morphology and intelligence. Thus the flexible robotic arm designed in this paper is multipurpose, which serves the functions both in the modes of automation as well as flexibility. This makes it useful in unmanned industrial processes and can also be controlled and utilized according to our needs Hence it is guaranteed that the robotic design shown in this paper is a very flexible and efficient one which can be adopted by all types industries at an affordable cost.
[attachment=18946]
I.INTRODUCTION
Industrial robots have been used widely in manufacturing factories since the early 1960s.They also play a vital role in modern manufacturing process. To stay competitive,
factories are increasingly automating their production lines with Computer Integrated
II. PROPOSED FRAMEWORK
The proposed paper implies the construction of a multitasking robot which can distinguish various industrial operations. The various units of proposed framework are:
(i). Robotic Arm: The robotic arm is made up of Teflon which uses four degrees of freedom for performing these operations shown in fig1. The robotic motion is due to three stepper motors and a DC motor, incorporated at the base, shoulder, elbow and grippers respectively. The motor driver circuits are controlled by using ATMEL 89c51 microcontroller. This robot can also be manually controlled by flexible approach. Every stepper motor is directly coupled to a gear box to achieve the required torque. Spur and worm gears are directly coupled to the motors in a compounded fashion.
III.CONTROL ELECTRONICS
(i)Driver Circuit for Stepper Motor: A two phase stepper motor can be excited by passing a current through the individual windings on each of the four poles. Only a single ended power supply is required to operate the motor in the unipolar drive mode. A typical circuit is shown in fig .4 containing darlington pair transistors pairs for high current gain and free wheeling diodes providing a decay path for the winding current when the transistors are switched off. The individual frame gets the control signal ( ON/OFF) from a input buffer into which the command word is fetched.
IV.SOFTWARE IMPLEMENTATION
The software implementation in this design is the microcontroller programming (assembly language) involved in the automation. In this design, the robot distinguishes the jobs based on heights and performs two vital operations namely electroplating and acid wash. The algorithm includes calling of many subroutines such as reference, home, start sensing, electroplating, acid wash and unloading.The flow chart of program is shown in fig(7). As soon as the power supply unit is switched on the dc supply is feed to all the three stepper motors and the robot attains its reference position. From there the robot turns in clockwise position and attains its home position.Now the robot distinguishes the operations based on the sensors deflection.
CONCLUSION
We investigated robotic design principles using an evolutionary robotic system with reconfigurable morphology and intelligence. Thus the flexible robotic arm designed in this paper is multipurpose, which serves the functions both in the modes of automation as well as flexibility. This makes it useful in unmanned industrial processes and can also be controlled and utilized according to our needs Hence it is guaranteed that the robotic design shown in this paper is a very flexible and efficient one which can be adopted by all types industries at an affordable cost.