Bio-Hazard Robot

BIO HAZARD ROBOT
Muhammad Affan Khan Roll No. 2012-BM- 040
Hashim Chughtai Roll No. 2012-BM- 029
Samik Farhat Roll No. 2012-BM- 036
Syed Muhammad Haider Raza Roll No. 2012-BM- 026
Supervised by
Engr. M. Muzammil Khan
A Final Year Project report is submitted in the partial fulfilment for the degree of
Bachelor of Science in Biomedical Engineering
Department of Biomedical Engineering
Sir Syed University of Engineering & Technology
Karachi, Pakistan
January 20, 2016(Wednesday)

DECLARATION
We hereby declare that this project report is based on my original work except for citations
and quotations which have been duly acknowledged. I also declare that it has not been
previously and concurrently submitted for any other degree or other institutions.
Names : MUHAMMAD AFFAN KHAN
Signature : ___________________________________________
Roll no. : ___________________________________________
Date : ___________________________________________
Names : HASHIM CHUGHTAI
Signature : ___________________________________________
Roll no. : ___________________________________________
Date : ___________________________________________
Names : SAMIK FARHAT
Signature : ___________________________________________
Roll no. : ___________________________________________
Date : ___________________________________________
Names : SYED MUHAMMAD HAIDER RAZA
Signature : ___________________________________________
Roll no. : ___________________________________________
Date : ___________________________________________

APPROVAL FOR SUBMISSION
I certify that this project report entitled “BIO-HAZARD ROBOT” was prepared by
MUHAMMAD AFFAN KHAN, HASHIM CHUGHTAI, SAMIK FARHAT, SYED
MUHAMMAD HAIDER RAZA have met the required standard for submission in partial
fulfilment of the requirements for the award of BS in Biomedical Engineering at Sir Syed
University of Engineering and Technology, Karachi.
Approved by Supervisor
Signature: _________________________
Name: Engr. M.MUZAMMILKHAN
Associate/Assistant Professor, BMED, SSUET
Approved by Head of Department
Signature: _________________________
Professor Dr. M. A. Haleem
Chairman, BMED
Date: _________________________

ACKNOWLEDGEMENT
For the first I like to thanks ALLAH to give the courage and strength to
work on this project. The completion of “BIO HAZARD ROBOT” was
not an easy task for us. The project was bit different from other software
based projects and a huge hardware and electronic knowledge were
required. In accomplishing this goal many personals gave the helping
hand for us. We would like to appreciate their guidance and
encouragement since without their support the project would not have
been a success.
First of all we would like to thank Professor Dr. M. A. Haleem, Head
of the Department of biomedical Engineering who gave us tremendous
help by providing necessary guidance for our final year projects. It is a
pleasure to mention ENGR, M.MUZAMMIL KHAN Assistant Professor
of Department of biomedical Engineering who was the supervisor of the
project, gave us support specially giving us some required electronic
measuring equipment and precious advices when we were stuck with
technical problems and an enormous And as the supervisor gave us a
fabulous help and guidance in the whole period of the project.
Then we would like to thank all the staff members of the Department of
Biomedical Engineering for the friendly support and encouragement
given by them. It’s quite happy to announce that each dead line that was
there helped us to urge the development and complete this on time. Our
team was together as a family, each member contributed maximum to
make this a success. We would like to thank all other colleagues that
were not mentioned here for their great supportprovided.

BIO HAZARD ROBOT
ABSTRACT
Our Robot deals with designing a mobile robot and its arm, which can be
used to pick and place the objects. A robotic arm is designed and is able
to pick the objects with a specific weight and place them in a desired
location to facilitate the paramedical staff. Pick and place robot is the
combination of three subsection which are Robotic mechanism,
hardware driver circuit and controlling software. The main part will be
the mechanism that actually forms the body of robot means moving
robotic arm that picks or places any object. Function of hardware driver
circuit is to drive all three motors and actuates all the motions of robot.
Controlling software is also an important part of this robot because it
will take care of all controlling actions.

TABLE OF CONTENTS
DECLARATION ii
APPROVAL FOR SUBMISSION iii
ACKNOWLEDGEMENT iv
ABSTRACT v
TABLE OF CONTENTS vi
LIST OF TABLES viii
LIST OF FIGURES ix
LIST OF SYMBOLS / ABBREVIATIONS x
LIST OF APPENDICES xi
CHAPTERS
1 INTRODUCTION 12
1.1 Background 12
1.2 History of mobile robots 12
1.3 Aims and Objectives 13
2 LITRATURE REVIEW AND BACKGROUND 14
2.1 Robotics 14
2.2 Manipulator 14
2.2.1 Mechanical gripper 15
2.3 Robot pick and place 15
2.4 Handling and movement 15
3 METHODOLOGY
3.1 Design and development 16
3.2 Initial structure 16
3.3 Final structure 17
3.3.1 Working principle 18
3.4 Phases of robot 18

3.4.1 Technical phase 18
3.4.1.1 Base of the body 18
3.4.1.2 Antenna 18
3.4.1.3 Rf-Module 19
3.4.1.4 Manipulator 19
3.4.2 Electrical phase 20
3.4.2.1 Power source 20
3.4.2.2 Relays 20
3.4.2.3 NPN transistor 20
3.4.2.4 LM317 20
3.4.2.5 Optocoupler 20
3.4.2.6 Voltage regulator 21
3.4.2.7 Timer circuit 21
3.4.2.8 DC gear motor 21
3.5 Mechanical phase 21
3.6 Block diagram 22
3.7 Structure block diagram 22
3.8 Schematic diagram 23
4 RESULTS AND DISCUSSION 24
4.1 Result 24
4.2 Division of time 25
5 CONCLUSION AND RECOMENDATION 26
5.1 Conclusion 26
5,2 Future recommendation 26
REFERENCES 27
APPENDICES 36

LIST OF FIGURES
FIGURE TITLE PAGE
1 Sir Syed University of Engineering & Technology
Logo 1
3.2 Initial Structure 16
3.3 Final structure 17
3.4.1.3 RF Module 19
3.4.1.4 Manipulator 19
3.6 Block diagram 22
3.7 Structure block diagram 22
3.8 Schematic diagram 23

LIST OF SYMBOLS / ABBREVIATIONS
RF Radio Frequency
Dc direct current
Ac alternating current
Ssr solid state relay
mA mili ampere
mV mili volts
.

LIST OF APPENDICES
APPENDIX TITLE PAGE
APPENDIX A: Meeting Minutes

12
CHAPTER 1
INTRODUCTION
1.1 Background
The aim of our project is to design an eminent robot which will be capable of picking
and placing the medicines or other medical equipments from one place to another by
reducing the effort of paramedical and nursing staff in the hospitals in different
circumstances and different conditions. During certain medical conditions of patients
where there are chances of some kind of viruses like Ebola and Congo which can be
spread from person to person, the doctors have to take some necessary precautions.
So the robot can be used in the replacement of nursing staff to provide some basic
medical assistance to the patient. The robot will be a programmable remote
controlled device which will be capable of doing precise and accurate actions and
can be controlled by the doctor or any paramedical staff.
1.2 History of Mobile robots
BioHazard was a heavyweight robot from California built by Carlo Bertocchini. It
competed in all seven BattleBots events, from 1999 to 2002, winning four titles in
the process, also being runner-up once, and a quarter-finalist twice. BioHazard also
competed in U.S. Robot Wars, and won the title twice, in 1996 and 1997. Biohazard
was the most successful bot in battlebots history.
BioHazard was created by Carlo Bertocchini for Robot Wars. BioHazard was
first designed entirely on a computer before a single part was even purchased.[3]
Carlo said that designing BioHazard's low-profile frame was one of his greatest
engineering accomplishments. It is also likely to be the heavyweight robot with the
second smallest height at just 4 inches, or 10cm, high.

13
Robot itself has gone through many changes. Originally, it had two forklift-
like plates on its lifting arm and no anti-wedge skirts but it had spring loaded anti-
intrusion device underneath its frame which prevent wedges from getting underneath.
The anti-wedge skirts were added in 1997 for more protection against flipping.
However, the skirts led to Bio-Hazard's demise when it was flipped in the Las Vegas
1999 quarterfinals--because of the skirts, Bio-Hazard was unable to right itself.
In a Com Bots 2005 event, Bio-Hazard had its lifter end and side skirt ripped
off by Megabyte. It then suffered extreme damage to the front of its chassis from
Brutality, causing Bio-Hazard to retire.Bertocchini was also building a super heavy
weight robot for the later Battle Bots events, but it was never completed.
1.3 Aims and Objectives
The aim of our project is to design an eminent robot which will be capable of picking
and placing the medicines or other medical equipments from one place to another by
reducing the effort of paramedical and nursing staff in the hospitals in different
circumstances and different conditions. During certain medical conditions of patients
where there are chances of some kind of viruses like Ebola and Congo which can be
spread from person to person, the doctors have to take some necessary precautions.
So the robot can be used in the replacement of nursing staff to provide some basic
medical assistance to the patient. The robot will be a programmable remote
controlled device which will be capable of doing precise and accurate actions and
can be controlled by the doctor or any paramedical staff.

14
CHAPTER 2
1
1LITERATURE REVIEW OR BACKGROUND
2.1 Robotics
Robotics research today is focused on developing systems that exhibit modularity,
flexibility, redundancy, fault-tolerance, a general and extensible software
environment and seamless connectivity to other machines, some researchers focus on
completely automating a manufacturing process or a task, by providing sensor based
intelligence to the robot arm, while others try to solidify the analytical foundations
on which many of the basic concepts in robotics are built.
In this highly developing society time and man power are critical constrains
for completion of task in large scales. The automation is playing important role to
save human efforts in most of the regular and frequently carried works. One of the
major and most commonly performed works is picking and placing of jobs from
source to destination
The pick and place robot is a microcontroller based mechatronic system that
detects the object, picks that object from source location and places at desired
location.[8] For detection of object, infrared sensors are used which detect presence
of object as the transmitter to receiver path for RF-Module and is interrupted by
placed object.
2.2 Manipulator
Robots which must work in the real world require some way to manipulate objects;
pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot are
often referred to as end effectors, while the arm is referred to as a manipulator. Most
robot arms have replaceable effectors, each allowing them to perform some small
range of tasks. Some have a fixed manipulator which cannot be replaced, while a few
have one very general purpose manipulator, for example a humanoid hand. Such as,

15
2.2.1 Mechanical Grippers
One of the most common effectors is the gripper. In its simplest manifestation it
consists of just two fingers which can open and close to pick up and let go of a range
of small objects. Fingers can for example be made of a chain with a metal wire run
through it.
2.3 Robot pick-and-place
The use of robots for placing products in cartons and transfer of cartons and products
between different stations in the packaging lines is very common in all industries.
High speed pick-and-place robots for placing small items like candy and cookies in
packages are often combined with a visual observation system for identifying
products.
2.4 Handling and Movement
Flexible packaging material is the generic term for soft packages made of film, foil
or paper sheeting. Popular forms are stand-up pouches, bags, sachets and envelopes
and medicine boxes. These packages are often formed, filled and sealed in a vertical
or horizontal form-fill-seal machine. The package is then finally put into a case by
top loading.

16
CHAPTER 3
METHODOLGY
3.1 Designand development
Since this project is the “Bio-Hazard Robot”. This robot which is pick and place
robot is capable of balancing while travelling along multi-sloped platform.The robot
has RF-Module, Relays and several Ic’s which transmits or receive radio signals to
other devices and to communicate with other device wireless. The base of the robot
has two DC motors drive wheels and caster wheel moving forward, backword, left
and right . A circuit inside takes input signal from RF-Module and controls the speed
of wheels’ rotation’. Then the main focus of this work was to design, develop and
implementation of competitively robotic arm. This robotic arm was designed with
two degrees and talented to accomplish accurately simple tasks, such as light
medicine box handling. This robotic arm is equipped with one servo-motor which do
links between arm and arm movement.
3.2 Initial structure

17
In initial phase we tested the the movements of the robots which includes backward
and forward movements. Then we included the movement in 360 degree. We tested
the robot on the single plastic sheet frame which was not efficient because it was not
enough strong to hold or support the whole structure of the body. So we replaced the
whole body by two plastic sheets.
3.3 Final structure
.

18
3.3.1 Working principle
The working principle of the robot is to move in forward and backward directions
and in 360 degree also. And a robotic arm is used to pick and place the objects. All
the motions of the robot is controlled by the RF module.
3.4 Phases of robot
The robot is generally a complicated device therefore it is usually consisting of different
part which becomes better for analysis and troubleshooting. Here the robot is divided
into two phases which are as follows.
3.4.1 Technical phase
Technical phase includes,
3.4.1.1 Base of the body:
The base of the robot is supported by a hard plastic sheet which is 0.5cm thick. The
length of the sheet is about 30 cm and the width is about 15 cm. It can support the
whole structure of the body.
3.4.1.2 Antenna
An antenna plural antennae or antennas, or aerial, is an electrical device which
converts electric power into radio waves, and vice versa. It is usually used with a
radio transmitter or radio receiver.

19
3.4.1.3 RF module
An RF Module is a small electronic circuit which is used to receive, transmit or
receive radio waves on one of a number of carrier frequencies.
3.4.1.4 Manipulator
In robotics a manipulator is a device used to manipulate materials without direct
contact. The applications were originally for dealing with radioactive or biohazard
materials, using robotic arms, or they were used in inaccessible places.

20
3.4.2 Electrical phase:
3.4.2.1 Power Source
One of the reliable power source is battery. Here we used rechargeable batteries of
22v and 2.1A each which is used to operate all the three motors of the robot. The
power supply of circuit is given by LM 317 IC.
3.4.2.2 Relays
A relay is an electrically operated switch. Many relays use an electromagnet to
mechanically operate a switch, but other operating principles are also used, such
as solid-state relays. Relays are used where it is necessary to control a circuit by a
low-power signal.
3.4.2.3 NPN transistor
NPN is one of the two types of bipolar transistors, consisting of a layer of P-doped
semiconductor (the "base") between two N-doped layers. A small current entering
the base is amplified to produce a large collector and emitter current.
3.4.2.4 LM 317
The LM 317 voltage regulator is a 3-terminal adjustable voltage regulator which can
supply an output voltage adjustable from 12v to 37v. It can supply more than 1.5A of
load current to a load
3.4.2.5 Optocoupler
Optocoupler is a component that transfers electrical signals between two isolated
circuits by using light. Opto-isolators prevent high voltages from affecting the

21
system receiving the signal. It uses a short optical transmission path to transfer an
electrical signal between circuits or elements of a circuit. While keeping them
electricaly isolated from eachother.
3.4.2.6 Voltage regulator
A voltage regulator is designed to automatically maintain a constant voltage level. A
voltage regulator may be a simple "feed-forward" design or may include negative
feedback control loops.
3.4.2.7 Timer circuit
The 555 timer IC is an integrated circuit (chip) used in a variety of timer, pulse
generation and oscillator applications. The 555 can be used to provide time delays, as
an oscillator and as a flip-flop element.
3.4.2.8 DC Gear Motor
A gear motor is a type of electrical motor. Like all electrical motors, it uses the
magnetism induced by an electrical current to rotate a rotor that is connected to a
shaft. The energy transferred from the rotor to the shaft is then used to power a
connected device.
In a gear motor, the energy output is used to turn a series of gears in an
integrated gear train. Here we used 3 DC gear motors. 2 gear motors are used for
forward and backward movements and 1 gear motor is used for robotic arm to pick
and place the objects.
3.5 Mechanical phase
In order to design a robot that can achieve all the targets that we need. Here we
targeted to pick and place the few grams of object and also the movements of the
robot (forward and backward directions).

22
3.6 Block diagram
3.7 Structure Block Diagram
Technical phase Mechanical phase
Controlling board
(RF module)
Electrical phase
Driving circuit
Final phase
MotorsManipulator
Power source
RF Module
Motor driving circuit

23
3.8 Schematic diagram
CLK
14
E
13
MR
15
CO
12
Q0
3
Q1
2
Q2
4
Q3
7
Q4
10
Q5
1
Q6
5
Q7
6
Q8
9
Q9
11
U1
4017
BAT1
18V
R1
1k
R2
1k
C2
0.01uF
R
4
DC
7
Q
3
GND
1
VCC
8
TR
2
TH
6
CV
5
U2
NE555
R7
1k
R8
1k
Q1
NPN D1
DIODE
R9
10k
Q3
NPN D3
DIODE
R11
10k
Q4
NPN D4
DIODE
R12
10k
Q2
NPN D2
DIODE
R10
10k
R4
1k
50%
RV1
5k
A
K
C
E
1
2
4
3
U3
PC817
A
K
C
E
1
2
4
3
U4
PC817
A
K
C
E
1
2
4
3
U5
PC817
A
K
C
E
1
2
4
3
U6
PC817
R3
330
R5
330
R6
330
R13
330

24
CHAPTER 4
RESULTS AND DISCUSSIONS
4.1 Result
In this project we used three motors for the operation of the system, two for the
operation for the movement of the wheels, one for the manipulator for pick and place
operation. The robotic arm consist of one motor and one for the jaw opening and
closing. The aim of this work is the development of wireless control of a pick and
place robot using RF-Module. This is designed to handle a maximum weight of 100
to 200 grams. The weight handling capacity of pick and place robot is determined by
the capacity of DC motors and vice versa.
4.2 Division of time
Final year project principle and technique was decided in the beginning. This project is
comprised of two semesters of the last year of graduation. Therefore the work of the
project was widely spread to overcome this issue to manage everything in a proper
manner; the work was divided according to the time which was given. Each was
interlinked with each other therefore the delay on any will affect the whole plan this is
how FYP time division of work has been shown.

25
S.no Area of work Time Taken Achieved
1 Electrical 3.5 months


2 Electronics 3 months


3 Mechanical 2 months


4 Designing 1 week


Fig. no. 4.2 Division Of Time

26
CHAPTER 5
1CONCLUSION AND RECOMMENDATIONS
5.1 Conclusion
This pick and place robot system utilizes programmable RF-Module, gear motors, Relays,
Gripper and Manipulator. The robotic arm is composed of loading system. 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 programmable RF-Module. This Module used to
execute the motion sequence of the robotic arm pick and place system. By this Module work is
made easy, and this also decreases the quantity of human failures.
5.2 Future Recommendations
Health care is channeling the future to present times by utilizing biohazard robotic technologies
in such functions as patient food service, medication distribution and infection control. The
demand is projected to grow exponentially because of its many advantages. According to
proponents, biohazard robots can curtail labor costs, add operational efficiencies, create better
clinical outcomes and replace humans in potentially unsafe situations. We can recommend
biohazard robots in many places where the chances of spreading certain infections are high. For
e.g: we can recommend biohazard robots in different Hospitals, Clinics and other places where
patient is suffering from certain type of infection or virus so the paramedical staff does not have
to make direct contact with the patient for every small task.

27
REFERENCES
[1]. P. Heyrati, A. Aghagani, "Science of Robot Disgn and Build Robot", Azarakhsh Publication,
2008.
[2]. M. Mashaghi, "Robotic Guide", Kanone Oloum Publication, 2008.
[3] http://battlebots.wikia.com/wiki/BioHazard
[4]. Maloney, Timothy, Industrial Electronics, 7th edition, Tint Printing, Health Company, 1995.
[5]. Andren, Gerald B., Robot Design Handbook, SRI International, Mitsubishi Electric
Company, 1988.
[6]. Montecastro, Anna Marie N., Info Net Magazine, 2nd quarter issue, Vol. 8, 2000
[7]. Rehg, James, Introduction to Robotics, Prentice Hall, Inc., Englewood Cliffs, New Jersey,
1988.
[8] Mohamed Naufal bin Omar,“Pick and place robotic arm controlled by remote control”,
UniversititeknikalMalaysia, Melaka April 2007.

28
APPENDIX A: Meeting Minutes
Sir Syed University of Engineering and Technology
FYP Group Meeting with Supervisor
Meeting Summary
Meetingattendedby: M.Affan Khan (2012-BM-040), Hashim Chughtai (2012-BM-029), M. Samik
Farhat (2012-BM-036),SyedMuhammadHaiderRaza(2012-BM-026)
Absentfrommeeting: NIL
Date: 9th April 2015
Time: 3PM- 4PM
Location: DFT-3
Agenda: Feasibilityreportpresentation MeetingNo:1
Pointsof Meeting:
Discussed the objectiveand related material in the meeting and demonstrate in presentation.
Next Meeting:With all supervisors in April 2015 Signature:(Supervisor)

29
Meeting Summary
Date: 18th May 2015
Time: 10:30 AM- 11:30 AM
Location: DFT-3
Agenda: Discussed about the base of robot MeetingNo:2
Pointsof Meeting:
Designing the base of the robot and the components we needed
Next Meeting:With all supervisors in May 2015 Signature:(Supervisor)

30
Meeting Summary
Date: 7th July 2015
Time: 1 PM- 2 PM
Location: DFT-3
Agenda: Discussed about circuit design MeetingNo:3
Pointsof Meeting:
Designing the circuit.
Next Meeting:With all supervisors in July 2015 Signature:(Supervisor)

31
Meeting Summary
Date: 25rd Aug 2015
Time: 3 PM- 4 PM
Location: DFT-3
Agenda: Discussed on RF-Module MeetingNo:4
Pointsof Meeting:
Implementation of RF-Module
Next Meeting:With all supervisors in August 2015 Signature:(Supervisor)

32
Meeting Summary
Meeting attendedby: M.Affan Khan (2012-BM-040), Hashim Chughtai (2012-BM-029), M. Samik
Date: 10th sep 2015
Time: 1:30 PM- 2:30 PM
Location: DFT-3
Agenda: Discussed on range of robot MeetingNo:5
Pointsof Meeting:
Adjusting the range according to the RF-Module
Next Meeting:With all supervisors in September 2015 Signature:(Supervisor)

33
Meeting Summary
Date: 28th Oct2015
Time: 4:30 PM- 5PM
Location: DFT-3
Agenda: Discussedonmanipulator MeetingNo:6
Pointsof Meeting:
How to make the robotic arm
Next Meeting:With all supervisors in October2015 Signature:(Supervisor)

34
Sir Syed University of Engineeringand Technology
Meeting Summary
Date: 4th Nov 2015
Time: 9 AM- 10 AM
Location: DFT-3
Agenda: Discussed on Gripper MeetingNo:7
Pointsof Meeting:
How to make the gripper and how to fix the gripper on robotic arm
Next Meeting:With all supervisors in November 2015 Signature:(Supervisor)

35
Sir Syed University of Engineeringand Technology
Meeting Summary
Date: 22nd Dec 2015
Time: 10 AM – 11AM
Location: DFT-3
Agenda: Discussed to transfer the signal from RF-Module
to manipulator
MeetingNo:8
Pointsof Meeting:
How to transfer the signal fromRF-Module to manipulator.
Next Meeting:With all supervisors in December 2015 Signature:(Supervisor)

36
Meeting Summary
Date: 7th jan 2016
Time: 11AM- 12PM
Location: DFT-3
Agenda: Final proteuscircuitdiagram/designingoftherobot MeetingNo:9
Pointsof Meeting:
Arrangement of the components
The casing material and weight of the robot
Next Meeting:With all supervisors in January2016 Signature:(Supervisor)

Bio-Hazard Robot

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