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    American University of Science & Technology: Faculty of Engineering Department of Mechatronics Engineering

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    Dani Hajj Ali Sleiman
    This document describes the design of a robotic arm using a PIC microcontroller. The robotic arm consists of mechanical parts like sensors and actuators. It also has electrical components including circuits to power and control the arm. Servo motors and potentiometers are used to control the movement of the arm parts. Programming in C allows the PIC microcontroller to send signals that precisely control the servo motor rotation and robotic arm motion. The completed robotic arm is a mechatronic system that integrates mechanical, electrical, and software control elements.

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    American University of Science & Technology: Faculty of Engineering Department of Mechatronics Engineering

    Uploaded by

    Dani Hajj Ali Sleiman
    71 views11 pages
    This document describes the design of a robotic arm using a PIC microcontroller. The robotic arm consists of mechanical parts like sensors and actuators. It also has electrical components including circuits to power and control the arm. Servo motors and potentiometers are used to control the movement of the arm parts. Programming in C allows the PIC microcontroller to send signals that precisely control the servo motor rotation and robotic arm motion. The completed robotic arm is a mechatronic system that integrates mechanical, electrical, and software control elements.

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    This document describes the design of a robotic arm using a PIC microcontroller. The robotic arm consists of mechanical parts like sensors and actuators. It also has electrical components including circuits to power and control the arm. Servo motors and potentiometers are used to control the movement of the arm parts. Programming in C allows the PIC microcontroller to send signals that precisely control the servo motor rotation and robotic arm motion. The completed robotic arm is a mechatronic system that integrates mechanical, electrical, and software control elements.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    71 views11 pages

    American University of Science & Technology: Faculty of Engineering Department of Mechatronics Engineering

    Uploaded by

    Dani Hajj Ali Sleiman
    This document describes the design of a robotic arm using a PIC microcontroller. The robotic arm consists of mechanical parts like sensors and actuators. It also has electrical components including circuits to power and control the arm. Servo motors and potentiometers are used to control the movement of the arm parts. Programming in C allows the PIC microcontroller to send signals that precisely control the servo motor rotation and robotic arm motion. The completed robotic arm is a mechatronic system that integrates mechanical, electrical, and software control elements.

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    You are on page 1of 11

    AMERICAN UNIVERSITY OF SCIENCE & TECHNOLOGY

    FACULTY OF ENGINEERING
    DEPARTMENT OF MECHATRONICS ENGINEERING

    Robotics
    MTE 410 L
    Report # 1
    Prepared by:
    Dany Hajj Ali Sleiman
    Presented to:
    Dr. Samer Kaed-Bey
    February 14, 2016
    Achrafieh Campus

    Abstract
    This project is about designing a robotic arm using PIC
    microcontroller, this project is a practice to get an advanced
    knowledge about the robotics course we are taking. My robotic
    arm consists of the mechanical parts (Sensors, and actuators).
    The signal processing part (filtering, amplification, and
    conditioning) my project also contains the Electrical part (the
    needed electrical circuit for the functioning of the arm). The
    control part (using PIC microcontroller as a controlling unit). This
    makes my robotic arm a pure mechatronics system containing all
    the needed requirements.

    Table of Contents
    Abstract
    2
    Table of Contents......................................................................................................... 3
    List of
    figures
    4
    Introduction

    .5
    Design of a robotic arm
    .
    6
    Servo motors

    .7
    Potentiometers

    7
    List of Materials

    8
    Results and Conclusions
    .9

    References

    ..10

    List of figures

    Figure 1: Circuit diagram


    ..6
    Figure 2: Servo motor
    .7
    Figure 3: Potentiometer
    7

    Introduction:

    The term robot comes from the Czech word robota,


    generally translated as "forced labor." This describes the majority of robots
    fairly well. Most robots in the world are designed for heavy, repetitive
    manufacturing work. They handle tasks that are difficult, dangerous or
    boring to human beings.
    The most common manufacturing robot is the robotic arm. A typical robotic
    arm is made up of seven metal segments, joined by six joints. The
    computer controls the robot by rotating individual step motors connected
    to each joint (some larger arms use hydraulics or pneumatics). Unlike
    ordinary motors, step motors move in exact increments (check
    out Anaheim Automation to find out how). This allows the computer to
    move the arm very precisely, repeating exactly the same movement over
    and over again. The robot uses motion sensors to make sure it moves just
    the right amount. [1]

    Design of a Robotic Arm:

    The Robotic Arm is


    designed using the Microcontroller i.e. PIC16f Microcontroller using C programming. This process works on the
    principle of interfacing servos and potentiometers. This task
    is achieved by using Electronics board. Potentiometers play
    an important role the remote is fitted with potentiometers
    and the servos are attached to the body of the robotic arm.
    The potentiometer converts the mechanical motion into
    electrical motion. Hence, on the motion of the remote the
    potentiometers produce the electrical pulses, which are
    enroot for the electronics board. The board then processes
    the signals received from the potentiometers and finally,
    converts them into requisite digital pulses that are then sent
    to the servomotors. This servo will respond with regards to
    the pulses which results in the moment of the arm.
    Figure 1 shows the image of a servo motor. Motor which is
    coupled to a sensor, used for position feedback, through a
    reduction gearbox. It also accompanies a relatively
    sophisticated controller, usually a dedicated module
    6

    designed specifically for use with servomotors short, the


    micro controller interfaces all these components specified
    below [2].

    Servo Motors:

    Servo refers to an error sensing


    feedback control which is used to correct the performance of
    a system. Servo or RC Servo Motors are DC motors equipped
    with a servo mechanism for precise control of angular
    position. The RC servo motors usually have a rotation limit
    from 90 to 180. But servos do not rotate continually. Their
    rotation is restricted in between the fixed angles. A
    servomotor is a motor, which forms part of a
    servomechanism [3].

    Potentiometer: A potentiometer, informally a pot, is a


    three-terminal resistor with a sliding or rotating contact that forms an
    adjustable voltage divider.[1] If only two terminals are used, one end
    and the wiper, it acts as a variable resistor or rheostat.

    List of materials

    -6 servos (i used 2x mg946, 2x mg995, 2xf utuba


    s3003(mg995/mg946 is better then the futuba s3003, but they are
    much cheaper)) about 10 dollar a piece
    -lexan 2mm (and a smal piece of 4mm) if you dont have any, about 5
    dollar for a nice piece
    8

    -distance sensor (hc-sr04) about 5 dollar


    -10mm led (any color you like) 0,50 dollar
    -stative (you need a box or someting like that to put your arm on)
    saved ;)
    -claw(you can buy one on the internet) about 15 dollar
    brain:
    -PIC16f about 15 dollar
    -power circuit board ( you need to make this, i come on this later, but
    it is not that spacial) free, you make it your self :)
    -power supply (i used one from a old pc) free!!
    -pc to program the arm using C programming [4].

    Results and Conclusions:

    The proto-type robotic


    arm pick and place system utilizes programmable logic controller,
    sensor technology, and pneumatic components such as compact
    cylinder, linear cylinder, rotary cylinder, gripper, and directional
    valves. The robotic arm pick and place system is composed of a
    loading station, testing station, processing station, and sorting
    station. It can be generalized that the robotic arm pick and place
    system has satisfied the motion sequence of the system intended
    to manipulate every process by ladder programming through the
    9

    use of programmable logic controller (PLC). Ladder programming


    is the primary programming language used to execute the motion
    sequence of the robotic arm pick and place system.

    References
    [1] http://pic-microcontroller.com/the-wooden-menace-a-mighty-robotic-armpowered-by-servos-using-pic-microcontoller/

    [2] http://www.instructables.com/id/DIY-robot-arm-/
    [3]
    http://www.nxtprograms.com/robot_arm/steps.html
    [4]
    http://www.societyofrobots.com/robot_arm_tutorial.sh
    tml
    10

    11

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