Specialty:

Plant Machinery Maintenance

Subject:
Communication I
Theme:
Equipment for automation in industrial plants

Robotic Arm

Student:
Ortiz Hancco Carlos Alfredo
Teacher:
Dr. Manuel Linares Pacheco
Fecha de Entrega : 18 / 04 / 13
 Introduction

Development and manufacturing of a two-degree-of-freedom robotic arm controlled by a PIC16F883, for

assist students in learning subjects related to rational mechanics, electronics,
programming and robotics.
This project arises from the current demand and the concepts that must initiate the construction of
a robotic arm controlled by a PIC.
The project required three motors (trico, servomotor) of direct current for the manipulation of its
degrees of freedom. Having a considerable cost.

Diseñar y construir un prototipo de un brazo robot que explore las posibilidades de su utilización para resolver
daily tasks at home, to assist individuals with movement difficulties. Create a prototype to
scale, with a maximum volume of 400x600x500 mm. Materials that are easy to machine can be used,
Although they may not be the most suitable for their definitive production, they will give us an idea for the future.
modification or design. The movement will include between two and three degrees of freedom.
The movement will be provided by DC motors, the power supply will be 5v for the microcontroller.
and 12v for powering the H-bridges of MOSFETs through power supplies.. The arm of the
the robot will have a free purpose. It is considered that this is a research project: what matters most is
explore ideas that, once refined, find their use in practice and the inclusion of will be valued.
components and circuits used for this project.

The base. This base moves horizontally, thanks to steel shafts that are used for
carpentry (closets, drawers) in which a rack and pinion system is connected. In said mast there is
a rack and pinion system is located to which the brush is connected and the main base that is the support of
the project will be fixed to the base of a table.
The robot arm has two circuits (described later) that are controlled with switches.
 Index

1. Introduction 5.6 Connections

2. Objectives 5.6.1 Veroboard connection

2.1 General objectives 5.6.2 Computer door connection

2.2 Specific objectives 5.7 Assembly of the board

3. Theoretical Foundation 6. Conclusions

3.1 Industrial robots 7. Recommendations

3.2 Clasificación del Robot 8. Bibliography

3.3 Anatomy of the Robot

3.4 Proposed Design

3.5 Robot Intelligence

3.6 Robot Sensors

3.7 Operation of the Robot

3.8 Programming Language

3.9 Robot Software

4. Materials and Work Equipment

5 Procedure

5.1 Activity Table

5.2 The assembly

5.3 Assembly of the arm

5.3.1 Main body

5.3.2 Inferior arm

5.3.3 Upper arm

5.4 Connected rod of the lower arm

5.5 Connection of the joint to the motor

 Objectives

General
Develop the design of the structure and control system of a robotic arm, and based on this
build the manipulator and the software that controls it.

Specific
1. Determine the aspects to consider for designing and building a robotic arm.

2. Design the structure of the robot in such a way that the motor mechanisms can be coupled.
adequately.

3. Design a control system that interacts with the sensors and manipulates the motor mechanisms.
of the engine.

4. Design and develop the software that controls the robot, and that allows it to be programmed.
to perform certain tasks.

5. Assemble the various components so that the robot can function properly, based on
in the elaborate design.
4. Work Materials:

Name Code Quantity Costo en soles

Three-phase motor AZG X1 2 80.00

Lumber ------------ 1 5.00

Triply -------------- 1 5.00

Mica (transparent) --------- 2 1.50

Cable 10 meters NTP 12 1 5.00

Transformers Anyx 3 36.00

Steel Bolts --------- 12 4.00

Screws ------- 4 0.40
3/4
A quarter of nails of ------ 1 1.00

Tin and paste ------- 1 4.00

Steel Axis (counterweight) ------ 1 3.00

½ ------ 1 10.00
Cobre Kilogramo
Markers Faber Castell 4 5.00
Terokal ----- 1 3.00
Pushbuttons 4 6.00
Switches 4 10.00
Battery box Duracell 12 3.00
Aluminum angle ------ 1 2.00

Bearings -------- 3 18.00

Connectors for cables 28 AWG 5 5.00

Connectors for AND 2 2.00
transformadores
Led 4 2.60
Three 1.5 V batteries Duracell 3 1.50
thinner ------ 1 5.00
DVD cables ------ 1 4.00
Cardboard ------- 1 2.50
White cardboard ------- 1 1.00

Cinta aislante ------- 1 1.50

Small servomotor 8 ------ 2 94.00
Veroboard In0234 1 54.00
 Theoretical Foundation

3.1 Industrial Robots:

In 1920, the Czech author K. Čapek coined the term robot in his work R.U.R. (Rossum's Universal Robots).
and derives from the word cheka robota, which means

worker

The International Organization for Standardization (ISO) describes an industrial robot as a 'machine'
formed by a mechanism that includes degrees of freedom, which often has the appearance of one or several
arms that end in a wrist with the ability to hold a tool, a workpiece or a
injection device

Automation and robotics:

Automation and robotics are two closely related technologies. The current needs of
increasing productivity and generating high-quality and uniform finished products cause the
Industry sought automation based on complex systems. In an industrial context, it can be defined
to automation as a technology related to the use of mechanical systems,
electronics and computers in the operation and control of production. An example of automation the
they constitute the machining assembly machines. Consequently, robotics is a way of
industrial automation.

There are three types of industrial automation:

Fixed Automation
Programmable automation
Flexible Automation

3.2 Classification of the robot:

The most important classifications or subdivisions that can be made of robots address the
architecture with which they are built and the physical configuration or anatomy of them. In the following section
The different architectures used for the construction of robots are explained.

The architecture of robots is the way mechanisms are arranged and how they are configured.
The types of robot architecture we have are: Articulated, mobile androids, zoomorphic, and hybrid.
Multi-articulated

Under this group are the Robots of very diverse shape and configuration whose characteristic is to be
sedentary and being structured to move their terminal elements in a certain space of
work. Example: the cartesian, industrial or manipulators.

Mobile phones

They are robots with great mobility capabilities, based on cars or platforms and equipped with a
rolling type locomotor system.

Androids

They are robots that try to fully or partially replicate the shape and kinematic behavior of the being.
humanoid. Currently, androids are still very underdeveloped devices with no practical use,
specifically designed for experimentation. An example of an android is the Asimo, manufactured by Toyota.

Zoomorphic

Zoomorphic Robots constitute a class primarily characterized by their locomotion systems.

that imitate the various human beings. These are grouped into two categories: walkers and non-walkers.

Hybrids

Finally, the Hybrids correspond to those that are difficult to classify, whose structure is situated in
combination with some of the previous ones already exposed, whether by conjunction or juxtaposition. By
example, articulated robots and wheeled ones (conjunction) or a body formed by a mobile cart and a robotic arm
similar to that of industrial robots (juxtaposition).

3.3 Anatomy of a robot:

To appreciate the components of a robot and its capabilities, one can observe them simultaneously.
flexibility and ability for various movements of our own arm, wrist to hold an object in
a moment.

Among the parties, we have:

Manipulator - Also known as Arm or Wrist, the manipulator is a mechanical unit.

that provides movements (trajectories) similar to those of a human arm or fingers. The
the extreme of the spleen can reach a point in space that has a specific set of
coordinates and in a specific orientation. Most robots have six joints.
rotating.
End effector. - The end of a robot's wrist is equipped with an end effector, which also
It is known as an end effector of the arm. Depending on the type of operation, the effectors
conventional finals can be equipped with the following:
Clips (grippers), hooks, paddles, electromagnets
Paint spray guns
Accessories for spot and arc welding also arc cutting
 Power tools (drills, wrenches, reamers)
Measurement instruments

Power source .- Each movement of the manipulator (linear or rotational) is controlled and regulated
through independent actuators that use an electrical power source,
pneumatics or hydraulics. Each power source and each type of engine has its own
characteristics, advantages, and limitations.

Control systems .- Also known as a controller, the control system is the system
of communications and information processing that provides commands for the
robot movements. It is the brain of the robot and stores data to start and finish.
manipulator movements. The control system also functions like the nerves of a robot
serves as an interface with computers and other equipment, such as manufacturing cells and systems
of assembly.

3.4 Proposed design:

The following sections describe the design of the robotic arm, which includes the characteristics and
anatomy of it. In the following chapters, technical aspects and details are presented in more detail.
implementation that will be used for the construction of the arm.

Description of robotic arm:

The robotic arm will have a shape similar to that of a human arm, and it will be able to perform different tasks.
movements within a defined workspace. The robot will have a tool shaped like a claw.
end of the doll, with which it will be able to hold some objects that are within the space of
work.

The robot will consist of a mechanical arm, controlled by a computer with the software.
necessary to specify movements and tasks that he/she will be able to execute. Basically, the task that
the robotic arm will perform the task of moving a certain object from one point to another.

The movements that the robot will perform will be programmed by the software that controls it. A person or
The user will be the one who indicates the tasks they want the handler to execute. This software receives as
entradas : la coordenada en la cual el objeto se va a movilizar , y la coordenada a la cual se movilizará el
object.

The program will execute a series of routines to calculate the movements the robot must make to
complete the assigned task.

The electronic system is composed of several devices capable of converting the voltage emitted by the
computer at higher or lower voltages depending on the given situation, so that they can be activated
robot mechanisms.
The robotic arm that will be built belongs to the type of robotic architecture known as multi-articulated.
The figure shows the different components that the robot will have: computer, circuit and the
mechanical structure.

Image courtesy of [Link]

3.5 Robot intelligence:

The problem of planning the movements of a pre-specified task to a robot, and controlling it when
executes the specified orders, it is resolved by equipping it with sensors and/or control mechanisms, with a
a set of primitive actions that can be performed in some 'world' or system easy to understand both
for the robot as well as for the programmer. To do this, a set of states is specified and anticipated in the
where the robot can be found, and each action of it can provoke a change from one state to another, or
change the configuration of the world around it to another.

It is important to take the above into account, as the actions executed by the robot can cause changes.
in the world around it. Intelligence enables the robot to have the ability to decide the course
action to take in order to achieve the objective or task that was set for you.

For this, a control system is proposed (see in the figure), consisting of the software or program of
computer, which will be used to plan the movements of the robot.

This program, based on the task that the user assigns to the robot, will perform the necessary calculations to
determine the instructions that will be sent to the effector mechanisms of the robot, so that they are executed
respective actions to fulfill the assigned task. The program is equipped with a certain degree of
intelligence, with the ability to choose the actions that the robot must execute to complete the task assigned to it
assigned.

Courtesy image [Link]

3.6 Robot Sensors:

A sensor is a device used to measure a variable physical quantity. For its operation
Some signal coming from a physical variable (force, pressure, temperature, etc.) acts on the sensor.
modifying some of its properties, and the sensor transforms it into another physical quantity.

For the sensor to perform this action, it must be calibrated. The sensors that are part of the system of
robot control is an essential part of the feedback process, in robots various can be used
classes of sensors for example: tactile, proximity and range, machine division among others.

Types of sensors:

Analog sensors or transducers. Speed sensor

Digital sensors or transducers Position sensor

Sensors that will be used:

Initially, it had been contemplated to use binary contact sensors to obtain associated information.
with the contact between the manipulator and objects in the workspace. This type of sensors are
switches that respond to the presence or absence of an object.

These sensors are useful for determining whether a piece is present between the fingers. Due to the degree of
The complexity added by using this type of sensors led to the decision not to use them.

Robot programming:

The robot will be controlled by a control system, which will use a computer program to
organize the movements and interpret the user's descriptions. The program via the keyboard of
the computer and the user interface receive the instructions or commands that the robot must execute.

The program will be executed with the ability to process, calculate, and send the necessary instructions to
that the robot can carry out its tasks.

3.7 Robot Operation:

The control system uses a computer program that is responsible for carrying out the calculation process.
to determine the actions that the actuators and effectors of the robot must execute.

This program plans the securing, the displacement, and checks the plan. The planning of the way of
grabbing the object is probably the most important problem in work planning since it
way affects all subsequent operations.
 Courtesy image slideshare/robotic/[Link]

3.8Lenguaje de programación :

The programming tool is Borland Delphi, which is a visual tool that offers
compatibility with low-level programming in Assembler and at the same time a user-friendly presentation
user. This tool enables the development of software that controls the robot capable of performing several
calculations, and an interface in a graphical environment.

3.9 Robot software:

The computer program or software was developed to implement the robot system, it is based on
An algorithm, which takes as input two vectors of three components indicated by the user, performs
the calculations to design a trajectory that allows the robot to move over a plane determined by the
axes.

Courtesy [Link]/tecnology/[Link]
 Procedure
5.1 Activity Table

Activities 1erMy 2doMonth 3heMe

Sem. 1 Sem. 2 Sem.3 Sem. 1 Sem. 2 Sem.3 Sem. 1 Sem. 2

Project planning

Formation of committees

Purchase of equipment and

materials
Execution of the project

Textual elaboration of the

project

Final evaluation and report of the

project
Delivery of results
5.2 The assembly:

We started our project by providing the patterns for the parts of the arm and the list of components.
base and the arm members should be made of a lightweight and rigid material that can be cut and
easily shape.

Make copies of the structure patterns, attach them to the plywood board and

cut them. Note that some patterns are used twice to produce pairs of components. Match the
pair the arms and join them before drilling. Sand with

care for each of the components to eliminate the roughness of the edges. For the arm we will need
four 5V digital servos; for this purpose, the Triko AZG X1 motors are ideal. In the same place where
Acquire the motors, disks must be purchased.

30 mm plastics to place at the end of the motor spindles. The best place might be the stores.
of scale models. If you want a more powerful arm, then you will have to use more powerful motors than the
Futaba S128. For the motor, we need a DC power supply of 5 V. Although the three
The micros that we will use to control the arm have 5 V power supplies. Electronic circuits.
at TTL levels. The

the maximum current that should be drawn from these 5V sources is 100 mA. Given that a

The servomotor under maximum load will draw 200 mA, it is not advisable to power the servos from

arm from the user door. Therefore, we need a source of

external power supply. The ideal would be a 5V DC transformer, but a less costly alternative is
use a combined set of three 1.5 V batteries. The total output of 4.5 V will be sufficient to activate the system.

5.3 Assembly of the arm :

5.3.1 Main body

We will assemble the main body, the upper and lower section of the arm, and make the joints of the
elbow and shoulder.

Drill a hole in the lower piece of the base (the wider of the two pieces) to accommodate the bearing.
Using a larger drill or a countersink, bevel the upper lip of the hole to seat it.
the edge of the bearing, as seen in the

illustration. Then drill a hole 6 mm in diameter in the upper base piece to receive the
piece of 25 mm of tube with 6 mm internal diameter. With the holes aligned and the bearing seated on
the lower piece of the base, glue the two pieces together. Insert the brass tube into the hole from above,
and stick it in its place. When this assembly is dry, the side pieces of the body can be added.
Drill holes at the top of the side pieces so that they fit snugly a piece
of a tube with an external diameter of 4 mm: this is a friction fit. Insert a piece of wood measuring 6x6.
mm and 37 mm long as a cross-piece between the two side assemblies, in line with the cut for the
side piece motor) and glue the assembly. When it is dry, place a spacer (e.g., a
large nut) on the steel plug that protrudes from the top of the assembled base box
previously. Push the plug through the bearing and check that the main body assembly
can rotate freely.

5.3.2 Lower arm

Cut a piece of 37 mm of brass tube with an external diameter of 5 mm and drill holes in the middle of the
lower arm pieces to receive this tube. Be sure to get a tight fit, since this
The brass tube will be part of the shoulder joint. Drill two more holes in the pyramidal end of
the pieces of the lower arm to receive the brass tube with an external diameter of 4 mm. As before,
make sure to get a friction fit. Working in the middle, pass the 5 mm tube through the
holes in the lower arm pieces using, as we see in the illustration, one of the servomotors
as a spacer. Cut pieces of 20 mm long wood of 6 mm as cross pieces and place them.
among the pieces of the lower arm. These go just below the brass tube and at the bottom of the
assembly, and

they are used to mount the servomotor. Stick them in place and, once dry, mount the motor using
four screws without nuts and rubber washers. The lower arm assembly can now be attached to the body.
mainly, through the shoulder joint. Now insert

a piece of 45 mm long of 4 mm tube through one of the holes at the top of the body
main and through the bronze tube that was already installed in the lower arm assembly. Make sure
that the assembly of the lower arm is centered. Mark the position where it seems to be.
correctly aligned, disassemble it, and then insert the larger brass tube in its place in the
assembly of the lower arm. Once dry, reassemble the shoulder joint.

5.3.3 Upper Arm :

Drill two holes to accommodate the 5 mm brass tube at the widest ends of the pieces.
upper arm. Drill two more holes at the other ends. Stick a piece of 25 mm wood of 6x6
I molded the ends in the 'T' piece. This will act as a spacer for the wrist. Place the
section in 'T' between the two

upper arm pieces and drill through the wrist spacer so that through the spacer
and from the upper arm sections a screw for metal can be passed. Secure the 'T' piece in place.
with a washer and a screw. At the other end of the arm, push through the drilled holes a
17 mm piece of 5 mm brass tube, and connect the upper arm assembly to the lower arm at the
elbow joint passing through the joint, as before, a piece of 25 mm of 4 mm tube.
Check that the upper arm is centered before disassembling it and gluing the brass tube in place.
major diameter.

Connecting rod of the upper arm: The upper arm is controlled by the motor already placed in the
assembly of the lower arm. The rotational movement of the motor spindle must be converted into a
push-pull movement in the upper arm. This is achieved by adjusting a short plastic arm (or
"horn") or a 30 mm plastic disc on the spindle. Both have a hole through which the rod will be inserted.
connector. Here we will assume that disks are being used, but the system will work perfectly if in your
Place the 30 mm disc or the speaker on the spindle so that when the motor
turn completely counterclockwise, the hole should be just to the left of the six o'clock position
point (imagine that the motor disc is a quadrant with twelve o'clock positioned vertically upwards
(above). Take a piece of 2 mm diameter steel rod and bend the ends to form a right angle.
de

so that the rod fits through the hole of the motor disk or the horn and the two

holes prepared for her in the upper arm pieces, near the elbow joint. The length of the
The rod must be such that the upper and lower arms form a 90° angle at the elbow when the motor turns.
completely counterclockwise. Check the action of the arm by slowly rotating the motor disk,
by hand, clockwise. Stick or weld the rod in its place on the disk.

5.4 Connected rod of the lower arm:

Mount the remaining motors on the main body, as indicated in the illustration. The motor on the right controls
the movement of the lower arm. Turn the motor so that it is completely counterclockwise
(viewed from the side of the engine disk) and position the engine disk so that the hole in the
the circumference of the disc should be positioned exactly to the right of the six o'clock position. Adjust a piece of rod
2 mm steel between the motor disk and the holes of the inner arm that are located near the joint
from the shoulder, as before. The length of the rod should be such that the inner arm is approximately
horizontal with the engine fully turned counterclockwise

clock. Check the action of the lower arm by manually turning the motor disk and attach or weld the rod.
connector to the motor's disk.

5.5 Connection of the joint to the motor:

The motor mounted to the left of the main body is used to open and close the clamp, pushing or
removing the central cable from the flexible joint. Start by drilling a hole through the piece
crusade of the main body so that, as seen in the illustration, the flexible joint can be
slide through it from the back. Stick the outer casing of the joint in this hole. When the
Make sure it is dry, pass the central wire through this hole, so that the jaws of the clamp fit well.
closed, and adjust the end of the cable to the motor disk. The hole in the circumference of the disk must
it will be "nine o'clock" when the engine turns fully counterclockwise. The end of the cable is
You can fix the motor disk in several ways. It

it's better to mount a small cable clamp on the disk. Otherwise, it can be done

a 90° bend at the end of the cable, and glue or solder in place the end that has been passed to
through the hole of the disk. Regardless of how this connection is made, it is important that the
the motor can push and pull the cable while it is turning.
5.6 Connections:

Having already covered the main stages of building our robotic arm, we only need to carry out
the electrical connections.

5.6.1 Veroboard Connections

Each servomotor has three wires connected to it. In the Futaba servomotors that we recommend for this,
the colors of these wires are: white for the control line, red for the positive power line, and black for
the common return line. The servomotor wires should be connected to the controller computer and to the power source
power supply using a veroboard rectangle of 20 strips x 9 holes, which will be mounted on the part
back of the base box of the arm. Cut the veroboard to the appropriate size and drill two holes for the
mounting in the indicated positions. Use the veroboard as a template to mark the positions
from the holes in the back of the base box and make the perforations, the holes in the base box and the
Veroboard must be drilled so that a screw for metals can be placed through them.
another hole in the back of the base box and pass the group of cables through it
servomotors mounted inside the base. One between the four groups of servo cables to the part
the back of the base box and solder the wires in the indicated positions. The four data lines and the
The ground line of the computer should be soldered on the bottom of the veroboard. The diagram illustrates a wire.
20-way plan used with the BBC Micro. Five cables are used for the Spectrum and the Commodore.
separated, or a flat five-way cable. Note that the white control lines of the
servo motors are welded in positions that are located directly above each of the data lines
from the computer, and that all the black lines are soldered into a single strip of copper, above the connection to
the motherboard and the two connections from the power supply. The final soldering task consists of
attach a 5 V power supply to the board, as shown in the illustration. The power supply
the 5 V power supply that the BBC Micro, the Spectrum, or the Commodore 64 have is not suitable for

to power the four servomotors with a heavy load. An alternative power source should then be sought.
A 4.5 V battery (or three 1.5 V batteries connected with a battery holder) constitutes a power supply.
ideal. If you have a 5V DC transformer, you can also use it. If you plan to use batteries,
then you must solder a battery holder to the free ends of the power lines that extend
from the veroboard.

If you use a transformer, you must install a suitable inline power connector. The negative side of
The power supply shares the same strip with the computer's ground connection and the lines of
black returns of the servomotors; the positive power cable is connected to each of the red wires of
the servomotors through a common copper strip.
5.6.2 Computer door connections:

After wiring the veroboard, the appropriate connector must be added to the door of the
connect to the free ends of the data lines from DO to D3 and the ground line. For the BBC Micro it must
a standard 20-way cable and an IDC connector should be used.

The Commodore 64 uses a 0.15 inch, 24-pin marginal connector. Because this connector is
plug into the door for the user up or down indifferently, before starting mark
one of the sides as TOP. The five lines of the veroboard must be soldered as indicated. Both the
BBC Micro, like the Commodore 64, has a built-in circuit system for handling applications.
control through a door for the user. The Spectrum, however, lacks a circuit system of
this type, and a special interface must be built to plug into its expansion port. In previous
chapters we have already designed and built an interface of this type. Now the users of a Spectrum
they must refer to those chapters to build the interface. A 12-pin D-type connector that
Plug directly into the robot provides the data and power lines of the interface. We can
adapt this connector to use it with the robot arm. Create a type D plug with 15 pins using
the free ends of the data and ground lines coming from the piece of veroboard of the arm, and add a
cover for socket. This adapter allows you to plug the robot arm into the door for extension.
Spectrum, through the interface board.

5.7 Assembly of the board:

Once you have finished all the wiring and tested it carefully, you should mount the veroboard on the
rear part of the base box using two screws for metals tightened inside the base.
Make sure that the motors are connected to the veroboard in the correct order. The data line DO
(the farthest left) must be connected to the white wire of the main body servomotor,
mounted on the base box; 01 must be connected to the servomotor of the lower arm, mounted to the left of the
main body; 02 controls the servomotor of the upper arm, mounted next to the shoulder joint, and D3
control the servo motor of the gripper, mounted to the right of the main body.