Movable pick and place Robot

Md. Mohaiminul Alam 1 · Umme Habiba Muna 2 · Kaniz Mohosina 3 ·

Samsul Fardin 4 Mejbahul Islam 5 · Rabia Bari 6

1
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
20-43368-1@student.aiub.edu
2
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
19- 39960-1@student.aiub.edu
3
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
20-42661-1@student.aiub.edu
4
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
20-43298-1@student.aiub.edu
5
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
20-43078-1@student.aiub.edu
6
American International University - Bangladesh, 408/1, Kuratoli, Khilkhet, Dhaka 1229,
Bangladesh
19-40573-1@student.aiub.edu

Abstract. In the 20th century, the world is progressing much faster than
expected nowadays and everywhere researchers are researching on to develop
robots that will be helpful for human life. The goal of this project is to make a
robot that will be able to move its own by its own and it will be able to detect an
object and grab the object and pick it up with the help of 4 DOF robotic arms
and it will be able to place the object in the desired place. The path sensor
algorithm is used for obstacle detection on its way and the robot is able to avoid
obstacles on its way. 90-degree turning algorithm which is used for the robotic
arm rotation via servo motor perfectly works. The research goal is to analyze
and build a robot that performs real-time image processing based on object
selection and placement from one place to another using the school method. As
we all know, the output is increasing day by day with time and it has become
the priority of every company to speed up production while at the same time
gain profit. In large-scale production, the material handling system will
malfunction due to many factors such as product counting, defective part
rejection, etc. For these reasons, manufacturing units are more interested in
automation through robots for their work. Some difficulties that occurred the
way and discussed below. In the end able to accomplish the goal perfectly and
the robot runs and does its purpose as it has been wanted.

Keywords: Mobile robot, Pick and place robot, Movable, Arduino

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1 Introduction
In this current world, the robot is the most helping hand for a human difficult life. The
purpose of making robots is to make human life much easier than before. In recent
years, the usage of robotics in various industries has grown in popularity. As long as
robotics technology continues to suit the various and demanding needs of the
industries, the trend appears to be unstoppable. Similar to other engineering
disciplines, robotics has been significantly impacted by the rapid advancements in
digital computer and
control system technologies.[3] The robot would move around to pick up an item and
then pass it back to the user or to a desired location as told by the user. The 3D sensor
detects the object position, even when objects are moving, and transmits it to the
robot Control, which controls the gripper. Pick and place (PNP) machine is a robotic
assembly device that uses a vacuum to lift a component off of a piece of tape, rotate it
to the right orientation, then place it on a Circuit board. It takes a few hours to set up a
machine to build the assembly, but once everything is running, It is very fast. How to
pick and place robot’s work. Typically mounted on a stable stand, pick and place
robots Are positioned to reach different areas to perform work. They use advanced
vision systems to identify, Grasp and move objects from one place to another. A robot
is a self-contained, programmable device made up of electronic, electrical, or
mechanical components.[6] This project enables low-cost manufacturing across all
industries since, once the robot is put into use, it can perform the same task repeatedly
for no further expense. It also makes it easier to transport big or delicate items without
causing damage to the original goods, lift and position objects in the proper positions,
and boost the accuracy with which goods are manufactured.[7] An autonomous
mobile robot (AMR) is a type of robot that can understand and move through its
environment without being overseen directly by an operator or limited to a fixed,
predetermined path. Humanoid robots, unmanned rovers, entertainment pets, drones,
and so on are great examples of mobile Robots. They can be distinguished from other
robots by their ability to move autonomously, with enough Intelligence to react and
make decisions based on the perception they receive from the environment. The basic
functions of a mobile robot include the ability to move and explore, transport
payloads, or revenue-producing cargo, and complete complex tasks using an onboard
system, like robotic arms.[11]

2 Literature Review
Exhibited a voice-activated car with a moveable front camera that could be operated
by a designated user's voice commands. the wireless system was used for
communication (ZigBee). Using a neck microphone and the EasyVR voice
recognition module's GUI software, commands that will be utilized for control are
defined. The device's operation was configured using eight commands. The voice
module translated the commands into digital signals. The user's speech is contrasted
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with that of EasyVR. If synchronized, the digital signal is sent to the car via the
ZigBee transmitter module, which then receives it and delivers it to the
microcontroller (ATMEGA328) for analysis and execution of an anticipated
operation.[1]
Creation of a mobile, wireless robot arm. a portable robot with pick-and-place
capabilities that can be guided by a wireless PS2 controller. According to the
controller's specifications, it can go forward, backward, right, and left for a set
distance. This robot's development is based on the Arduino Mega platform, which
will be connected to a wireless controller for a mobile robotic arm.To determine the
robot's performance, measurements of its speed, range, and lifting capacity have been
made. Finally, this robot prototype should be able to pick up and place dangerous
objects quickly and easily, as well as set or pick up objects that are far from the user.
[2]
Automation is increasingly becoming a crucial component and helps to decide what
will be the robotic arm's primary function, or the fundamental duty that it will
perform will be. It also helps to pick what materials are best for this robotic arm. A
NodeMCU microcontroller that receives instructions or directions from the user
through the Blynk application controls it.
This microcontroller was programmed in C++ using the Arduino IDE software.
Designed, developed, and implemented a robot arm that can carry out straightforward
tasks like light material handling.[3]
Automation is increasingly becoming a crucial component. It benefits the foundation
of this project is the use of pick-and-place devices to attach surface mount
components to printed circuit boards. In general, the SMT pick-and-place robot
moves the stepper motor with the help of a controller while picking and placing the
component on the PCB using end effectors. Our SMT pick and place machine have a
Cartesian layout, and the stepper motors are controlled by an Arduino UNO board
with a CNC shield. To choose and put the components, the end effectors use vacuum
suction pens, while the z-axis uses a belt mechanism for up-and-down motion. The
device is lightweight and ideal for medium-sized businesses.[4]When the human is
unable to make move the object it is not possible for a human to carry the project is
about to implement to reduce the problem toimplement to reduce the problem to pick
and place the object.[5]
For handling the products, a low-cost pick-and-place robot has been developed. With
this configuration for the robot body, the robot is able to handle objects in challenging
positions. There are six DOF (degrees of freedom) available to this robot for
movement. This robot is a teleoperated robot that can be controlled using a specific
mobile app created using MIT APP INVENTOR 2. This program enables the user to
control the robot without the need for any specialized assistance, providing a hassle-
free experience for the user. This robot's use can streamline pick-and-place duties,
automate the procedure, and speed up the rate at which products are handled.[6]
Kinematic control techniques were used to design the robot arm's position control.
Kinematic control techniques can be divided into two categories: forward and reverse.
The joint angles and link length of the robot arm are the input parameters for the
forward kinematic technique, while the tool or gripper's position at the X, Y, and Z
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coordinates is the output. In inverse kinematics, the gripper's position at the X, Y, and
Z coordinates and the robot arm's link length are the input parameters. The joint
angles are the output parameters. Thus, without taking into account the forces or
moments driving the motions, kinematic methods can explain the analytical
description of the geometric motion of the manipulator with reference to a robot
coordinate system fixed to a frame.[7]
In this paper, the robot has six DOF (degrees of freedom) that it can use to move
about. This robot is tele operated robot that can be controlled using a specific mobile
application created using MITAPP INVENTOR 2. Because this robot doesn’t require
any particular assistance to work, utilizing It is a hassle-free experience for the person
controlling it. Pick and place duties can be made Simpler, the process can be
automated, and the speed at which products are handled may all be Improved by
employing this robot. [8]
In this project, a “Robotic Arm for Pick and Place Application” is designed and
developed utilizing A NodeMCU controller. This project combines electrical and
electronic expertise. The goal of this Project is to create a pick-and-place robotic arm
for educational purposes that is more portable, Practical, and affordable. The
mechanism for managing all the operations is called NodeMCU From Microchip
Technology. A signal will be sent to NodeMCU via input devices like an Android
Application, and NodeMCU will then respond appropriately. An output signal to
some devices, Such servo motors, may be turned ON or OFF as part of the reaction.
[9]
Arduino is used to creating a robotic arm that can pick up and arrange things in
response to user Commands. From source to destination, it will carefully choose and
position an object. The items Won’t feel any additional pressure from the soft-
catching gripper that is being employed in the arm. Android-based smartphones that
support Bluetooth are used to operate the robot. The robot Behaves appropriately
based on the user’s orders. There are four motors connected to the Microcontroller at
the receiver end of the cable. The remaining two are for arm and gripper Movement,
while the other two are for vehicle movement. Robot control is done using a program
Called Blue Control. [10]
In this paper, the pick-and-place robot is used to transport the picked tomatoes to a
packaging System. The arm robot manipulator may replace humans working in
tomato plantations, ensuring Tomatoes are handled effectively. Motion that is precise
and smooth is achieved via the use of Fuzzy logic controllers (FLC) and inverse
kinematics. By modifying mechanical parameters, Inverse kinematics develops the
arm robot’s location and motion in the most effective way. The Experimental findings
match FLC’s rules-based input to the gripper motion system, and the FLC Determines
the proper angle of the servo motor responsible for gripper motion. By using this
Configuration, tomatoes won’t be damaged by overzealous force or improper
positioning. [11]
This paper’s goal is to create and put into practice a microcontroller-based robotic
system for a Production line for food and biscuits that is dependable and high
performing. The robot has the Ability to choose unbaked biscuit trays, put them in the
oven, and then remove the biscuit trays From the oven when they have finished
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baking. A unique gripper is developed to select and position The biscuit tray with
flexibility. [12]

Fig-1: Comparision table of pick and place robot

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3 Methodology

The robot builds up of 4 DOF robotic arm attached to 5 servo motors to move the
robotic arm. The whole thing is powered up by 4 lithium-ion batteries. There is a path
sensor is attached to the lower part of the robotic arm. The lower part is basically
made up of moving the robot own by its own, speed controller used to control the dc
motor which is attached to the wheel. And the upper parts Servo motor is attached to
the Arduino and the speed controller and line path sensor also have been attached to
the Arduino. Basically, the Arduino will run the whole thing and grab objects ESP32
also be used which has been connected to the robotic arm.

Fig 2: Block Diagram of Movable pick and place robot.

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At first power source will be connected to the motor driver which will be connected to
motors and Arduino mega so that the motor driver will be providing the power to the
Arduino. The ultrasonic sensor and esp32 will be connected to the Arduino and from the
feedback of the ultrasonic sensor and esp32 voltage up down to the motor driver and
servo motor will happen to complete to make the cycle of the whole process.

Fig 3: Working Principle of Pick and Place Robot

3.1 Experimental Setup

At first, choose a body to move around the whole thing 4 dc motors connected to the
wheel. The rest procedure: The dc motor is connected to the speed controller. Speed
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controller connected to the Arduino. Now connect the line path sensor to the Arduino. 5
Servo motors connected and 4 DOF robotic arms attached together. Those servo motor
ports are attached to the Arduino. Then added the battery to the Arduino to power up the
whole thing. ESP32 code ran in Arduino ide software and the rest code has been uploaded
in Arduino ide software

4 3D Modeling

Fig- 4: 3D modeling
The usage of robotics in the industry has substantially increased in order to increase
productivity and lower labor expenses. Labor costs are crucial for every sector. These
robots are built with a variety of structures to do certain jobs, and their movements or
trajectories are produced by computer programming as they manipulate the products
on the assembly line. The wheel helps the robot to move easily and everywhere.
Using Auto Desk Fusion 360, the 3D modeling of the robotic arm was completed To
produce the 3D modeling, all of the parts collaborated. The waist, base, gripper, and
gripper base all served the robotic arm. The object was moved and grasped by the
robotic arm's four servo motors. The robotic arm used all of its motors to move in an
efficient manner.
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5 Hardware Implementation

Fig5:Hardware implementation of pick and place robot.

Fig6:Hardware implementation of pick and place robot.

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6 Discussion
Faced so many difficulties attaching the whole setup. The big challenge was to
recognize objects through ESP32. The Arduino IDE wasn’t able to connect to the
ESP32 after researching so many things at last able to train the ESP32 and it was able
to grab the particular object. This research employed a variety of software and
algorithms. Each proposed journal has its own set of requirements for recognizing
hand actions. Case studies of gesture-controlled robotic arms demonstrate that it is
critical in situations where direct human interaction with them is difficult or
dangerous. As a result, the investigated journals will be relied upon even more. This
Pick and place robot will not work in crowded places. Since the movable part of the
robot is equipped with ultrasonic sensors, it cannot detect very small objects that are
underground. This robot cannot lift any object that is too heavy like 50 kg, or 30 kg
also the robot will not be able to grab objects of spherical shape.

7 Conclusion
An automated arm is a Mechanical arm that functions somewhat similarly to a human
arm. It can be programmed and used properly After a point-by-point analysis.
Although it is a fully programmable framework, it may also be operated Physically.
Without a doubt, this project helps in looking for solutions to problems brought on by
modern Mechanization. The arm is used for handling materials, and organizing
objects. The human-like Control movements have been implemented and also tested
in the past. It was possible to decide what would Be useful for the upcoming method
by reading research from previous publications and analyzing the Contents and
limitations of each one. Many studies suggested using image processing to track the
operator’s Motions, but this is not very practical because the operator must stay inside
the camera’s detection range. Different software and algorithms were used in this
research. Every proposed journal has a unique set of Requirements for recognizing
the hand action. Case studies of gesture-controlled robotic arms show that it Is
essential in fields where direct human interaction with them is challenging or
dangerous. As a result, even more reliance will be placed on the investigated journals.
This project can work with the help of modern science. It is capable of working in
factories and all-important places. The limitations of this project are high initial
investment robots typically require a large upfront investment, expertise can be
scarce, Industrial robots need sophisticated operation, maintenance, and
programming, and lastly, ongoing cost This project, the environment, and people’s
values are adapted and driven by automatic Systems. Good results can be obtained at
low cost through image training using an automatic system. The Robotic arm can
process precise images to identify the right object and lift heavy objects and place
them at Specific locations. And can be automatically moved from one place to
another. Which Can do the work of a group of workers in a few minutes.
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8 Acknowledgments

The acknowledgment for the project section where I thank my group mates, institutions,
and my faculty who helped us to complete the project successfully. It is similar to a
dedication, except for the fact that it is formal. Also, we do the research-just pick and
palace which was our project.

References

[1] Alka, N. U., A. A. Salihu, Y. S. Haruna, and I. A. Dalyop. "A voice controlled
pick and place robotic arm vehicle using android application." American Journal of
Engineering Research (AJER) 6, no. 7 (2017): 207-215.
[2] Yusoff, Mohd, et al. "Wireless Mobile Robotic Arm." Procedia Engineering, vol.
41, 2012, pp. 1072-1078, DOI: https://doi.org/10.1016/j.proeng.2012.07.285
[3] Pagare,Yuvraj Ramdas."NODE-MCU MICROCONTROLLEROPERATED
ROBOTIC ARM."
[4] Ramanathan S; Akash V; Arun Prasad R; Venkat Rahul M. "Pick and Place Robot
for Surface Mounting Devices". International Research Journal on Advanced Science
Hub, 2, 8, 2020, 75-81. DOI: 10.47392/irjash.2020.97
[5] Harish, Megha, Amit, K., & Jambotkar, C.K. (2017). Pick and Place Robotic Arm
Using Arduino.
[6] Meenakshi Prabhakar and Valenteena Paulraj and Dhusyant Arumukam Karthi
Kannappan and Joshuva Arockia Dhanraj and Deenadayalan Ganapathy. " Remote
Controlled Pick and Place Robot". Conference Series: Materials Science and
Engineering, 1, 2021. DOI: 10.1088/1757-899x/1012/1/012003
[7] Myint, Khin et al. “Position Control Method For Pick And Place Robot Arm For
Object Sorting System.” International Journal
[8]Meenakshi Prabhakar et al 2021 IOP Conf. Ser.: Mater. Sci. Eng. 1012 012003
Remote Controlled Pick and Place Robot
[9]Kaustubh Ghadge, Saurabh More, Pravin Gaikwad and Shrenik Chillal, Robotic
Arm for Pick and Place Application, International Journal of Mechanical Engineering
and Technology 9(1), 2018, pp. 125–133.
[10]Baby A, Augustine C, Thampi C, George M, AP A and Jose PC 2017 Pick and
place robotic arm implementation using Arduino IOSR Journal of Electrical and
Electronics Engineering 12 38- 41. [4]Dewi T, Nurmaini S, Risma P, Oktarina Y,
Roriz M 2020 Inverse kinematic analysis of 4 DOF pick and place arm robot
manipulator using fuzzy logic controller International Journal of Electrical &
Computer Engineering 10 2088-8708.
[11]Mir Sajjad Hussain Talpur, Murtaza Hussain ShaikhPublished 20 March
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2012 Automation of Mobile Pick and Place Robotic System for Small food Industry
[12] Autonomous Mobile Robot Technology and Use Cases

Report Contribution :

1. Umme Habiba Muna

- Report formatting ,comparison table,
methodology, Block diagram
2. MD. MOHAIMINUL ALAM
-Block diagram description and flow chart ,
Research work
3.RABIA BARI-
Related works
4. KANIZ MOHOSINA TABASSUM
-Research and conclusion
5. SAMSUL FARDEEN
- Abstract,Introduction
6. MEJBAHUL ISLAM JIM
- Discussion