pick-and-place-robot

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ABSTRACT
Mankind has always strived to give life like qualities to its artifacts in an
attempt to find substitutes for himself to carry out his orders and also to work in
a hostile environment. The popular concept of a mechanical arm is of a machine
that looks and works like a human arm.
The industry is moving from current state of automation to Robotization, to
increase productivity and to deliver uniform quality. The industrial robots of
today may not look the least bit like a human being although all the research is
directed to provide more and more anthropomorphic and humanlike features
and super-human capabilities in these.
One type of robot commonly used in industry is a robotic manipulator or simply
a mechanical arm. It is an open or closed kinematic chain of rigid links
interconnected by movable joints. In some configurations, links can be
considered to correspond to human anatomy as waist, upper arm and forearm
with joint at shoulder and elbow. At end of arm a wrist joint connects an end
effector which may be a tool and its fixture or a gripper or any other device to
work.
Here how a pick and place mechanical arm can be designed for a workstation
where loading and packing of lead batteries is been presented. All the various
problems and obstructions for the loading process has been deeply analyzed and
been taken into consideration while designing the pick and place mechanical
arm.

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INDEX
CHAPTER 1 INTRODUCTION…………………………………………9
1.1 History of mechanical arm……………………………………………… 11
1.2 Law of mechanical arm ……………………………………………….. 15
1.3 Components of mechanical arm …………………………………………15
CHAPTER 2 CLASSIFICATION OF MECHANICAL ARM ……. 20
2.1 Types of mechanical arm as per Application…………………………. 20
2.2 Types of mechanical arm by Locomotion & Kinematics……………. 23
CHAPTER 3 SELECTION OF TASK……………………………………25
3.1 Tasks……………………………………………………………………25
3.2 Selection of Tasks………………………………………………………27
3.3 Why Pick & Place mechanical arm..........................................................27
3.4 Defining work station……………………………………………….. 28
CHAPTER 4 DESIGN PROCEDURE………………………………… 29
4.1 Factors to be considered while designing……………………………… 29
CHAPTER 5 STEPS OF DESIGNING…………………………………..32
5.1 Selection of Product…………………………………………………….32
5.2 Designing of Work space………………………………………………..32
5.3 Degree of Freedom………………………………………………………33
CHAPTER 6 WORKS TO BE DONE…………………………………. 35
6.1 Selection of Parts….…………………………………………………… 35
6.2 Completion of Model…………………………………………………. 35
6.3 Interfacing with the human……………………………………………36
CHAPTER 7 HARDWARE REQUIREMENT………………………..37

7.1 VEHICLE PART………………………………………………………37
7.2 ARM PARTS…………………………………………………………..37
7.3 WIRED REMOTE……………………………………………………..37
CHAPTER 8 MAIN PARTS OF PROJECT…………………………. .38
8.1 Mechanical Arm Vehicle…………………………………………..... 38
8.2 Mechanical arm……………………………………………………….39
8.3 End Effector………………………………………………….……….40
8.4 Control Board………………………………………………………. 41
CHAPTER 9 MERITS,DEMARITS AND APPLICATION……..…..42
9.1 Advantages…………………………………………………………….42
9.2 Disadvantages………………………………………………………….43
9.3 Application…………………………………………………………….43
 REFERENCE……………………………………………………...45
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 LIST OF FIGURES
FIGURES
1.1 MECHANICAL ARM STRUCTURE.
1.2 POWER SOURCE BATTERY.
1.3 MOTOR.
2.1 MECHANICAL GRIPPER.
2.2 INDUSTRIAL MECHANICAL ARM.
2.3 MOBILE VEHICLE
3.1 AGRICULTURAL ARM.
3.2 DEGREE OF FREEDOM.
3.3 INTERFACING OF MECHANICAL ARM WITH HUMAN.
3.4 MECHANICAL ARM.
3.5 MECHANICAL ARM VEHICLE.
3.6 END EFFECTOR.
3.7 WIRED REMOTE.
3.8 BLOCK DIAGRAM.
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CHAPTER 1
INTRODUCTION
Mechanical is the branch of engineering science & Technology related to
machinery, and their design, manufacture, application, and structural
disposition. Robotics is related to electronics, mechanics, and software.
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 mechanical 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.
Present day industry is increasingly turning towards computer-based
automation mainly due to the need for increased productivity and delivery of
end products with uniform quality. The inflexibility and generally high cost of
hard-automation systems, which have been used for automated manufacturing
tasks in the past, have led to a broad based interest in the use of mechanical arm
capable of performing a variety of manufacturing functions in a flexible
environment and at lower costs. The use of Industrial mechanical arm
characterizes some of contemporary trends in automation of the manufacturing
process. However, present day industrial mechanical arm also exhibit a

monolithic mechanical structure and closed-system software architecture. They
are concentrated on simple repetitive tasks, which tend not to require high
precision.
The pick and place mechanical arm is a human controlled based system
that detects the object, picks that object from source location and places at
desired location. For detection of object, human detect presence of object and
move machine accordingly.
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1.1 HISTORY OF MECHANICAL ARM:
The various developments in the field of mechanical arm with the progress in
scientific technology have been revealed as follows:
 1954: The first programmable mechanical arm is designed by George
Devol. He coins the term Universal Automation.
 1956: Devol and engineer Joseph Engelberger form the world's first robot
company, Unimation.
 1960: Unimation is purchased by Condec Corporation and development
of Unimate Robot Systems begins. American Machine and Foundry, later
known as AMF Corporation, markets a robot, called the Versatran,
designed by Harry Johnson and Veljko Milenkovic.
 1962: The first industrial mechanical arm was online in a General Motors
automobile factory in New Jersey. It was Devol and Engelberger's
UNIMATE. It performed spot welding and extracted die castings.
 1969: Nachi starts its robotic business.
 1973: German robotics company, KUKA, creates the first industrial robot
with six electromechanically-driven axes. It is called the Famulus.
 1974: A mechanical arm (the Silver Arm) that performed small-parts
assembly using feedback from touch and pressure sensors was designed.
Professor Scheinman, the developer of the Stanford Arm, forms Vicarm
Inc. to market a version of the arm for industrial applications. The new
arm is controlled by a minicomputer.
 1974: Industrial mechanical arm were developed and installed in Fanuc
factory. Dr. Inaba, President of FANUC was rewarded with "the 6th
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Annual Memorial Award of Joseph Marie Jacquard" by the American NC
Society. The production and sale of DC servo motors were started under
GETTYS MANUFACTURING CO., INC license.
 1977: The Motoman L10 was introduced. It featured five axes and a
maximum workload of 10 kg, which included the gripper. It weighed
470kg. The Motoman L10 was the first robot that Yaskawa introduced on
the market.
 1977: ASEA, a European robot company, offers two sizes of electric
powered industrial robots. Both robots use a microcomputer controller for
programming and operation. Unimation purchases Vicarm Inc. during
this year.
 1978: Vicarm, Unimation creates the PUMA (Programmable Universal
Machine for Assembly) robot with support from General Motors. Many
research labs still use this assembly robot.
 1979: Nachi developed the first motor-driven mechanical arm for spot
welding.
 1979: OTC DAIHEN was known as OTC America. OTC was an
acronym for the Osaka Transformer Company. Located in Charlotte, NC,
OTC was originally a supplier of welding equipment for other transplant
companies. They expanded to become a provider to the Japanese auto
market of GMAW supplies. In these early years, OTC Japan introduced
its first generation of dedicated arc welding robots.
 1980: The industrial robot industry starts its rapid growth, with a new
robot or company entering the market every month.
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 1981: Takeo Kanade builds the direct drive arm. It is the first to have
motors installed directly into the joints of the arm. This change makes it
faster and much more accurate than previous robotic arms.
 1985: OTC DAIHEN became the official OEM supplier of robots to the
Miller Electric Company. Miller chose to assign different model numbers
to the robots sold in the North American market. The prefixed the letters
in the model with "MR," for Miller Robot. Miller no longer supports the
robots that were manufactured in this era. The Japanese models featured
their own number and name.
 1987: ASEA of Vasteras, Sweden (founded 1883) and BBC Brown
Boveri Ltd of Baden, Switzerland, (founded 1891) announce plans to
form ABB Asea Brown Boveri Ltd., headquartered in Zurich,
Switzerland. Each parent will hold 50 percent of the new company.
 1988: The Motoman ERC control system was introduced with the ability
to control up to 12 axes, more than any other controller at the time.
 1989: Nachi Technology Inc., U.S.A. is established.
 1992: FANUC Robot School was established. GM Fanuc Robotics
Corporation was restructured to FANUC's wholly owned share holding
company, FANUC Robotics Corporation, together with its subsidiaries,
FANUC Robotics North America, Inc. and FANUC Robotics Europe
GmbH. A Prototype of the intelligent robot was built.
 1994: The Motoman MRC control system was introduced with the ability
to control up to 21 axes. It could also synchronize the motions of two
robots.
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 1995: Miller departed from the robotic business. OTC launched the
Dynamic Robotic Division and moved the headquarters to Ohio to focus
on selling robots to new users.
 1996: Nachi expands robotics business, cutting tool, and bearing product
ranges.
 1998: The introduction of the XRC controller allowed the control of up to
27 axes and the synchronized control of three to four robots. The
Motoman UP series introduced a simpler robot arm that was more readily
accessible for maintenance and repair. Honda was instrumental in driving
the development of both the UP series of arms and the XRC arm control.
 2003: OTC DAIHEN introduced the Almega AX series, a line of arc
welding and handling robots. The AX series robots integrate seamlessly
with the OTC D series welding power supplies for advanced control
capabilities
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1.2 LAW OF ROBOTICS:
Isaac Asimov conceived the mechanical arm as humanoids hand, devoid of
feelings, and used them in a number of stories. His mechanical arm were well-designed,
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fail-safe machines, whose brains were programmed by human beings.
Anticipating the dangers and havoc such a device could cause, he postulated
rules for their ethical conduct. mechanical arm were required to perform
according to three principles known as “Three laws of mechanical arm”’ which
are as valid for real mechanical arm as they were for Asimov’s mechanical arm
and they are:
1. A mechanical arm should not injure a human being or, through inaction,
allow a human to be harmed.
2. A mechanical arm must obey orders given by humans except when that
conflicts with the First Law.
3. A mechanical arm must protect its own existence unless that conflicts
with the First or Second law.
These are very general laws and apply even to other machines and appliances.
They are always taken care of in any mechanical arm design.
1.3 COMPONENTS OF MECHANICAL ARM:
1. Structure
The structure of a mechanical arm is usually mostly mechanical and can be
called a kinematic chain. The chain is formed of links, actuators, and joints
which can allow one or more degrees of freedom. Most contemporary
mechanical arm use open serial chains in which each link connects the one
before to the one after it. These mechanical arm are often resemble the human

arm. mechanical arm used as manipulators have an end effector mounted on the
last link. This end effector can be anything from a welding device to a
mechanical hand used to manipulate the environment.
2. Power Source
At present mostly (lead-acid) batteries are used, but potential power sources
could be:
 Pneumatic (compressed gases)
 Hydraulics (compressed liquids)
 Flywheel energy storage
 Organic garbage (through anaerobic digestion)
 Still untested energy sources (e.g. Nuclear Fusion reactors)
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3. Actuation
Actuators are like the "muscles" of a mechanical arm, the parts which convert
stored energy into movement. By far the most popular actuators are electric
motors that spin a wheel or gear, and linear actuators that control industrial
mechanical arm in factors. But there are some recent advances in alternative
types of actuators, powered by electricity, chemicals, or compressed air.
4. Touch
Current mechanical arm receive far less tactile information than the human
hand. Recent research has developed a tactile sensor array that mimics the
mechanical properties and touch receptors of human fingertips. The sensor array
is constructed as a rigid core surrounded by conductive fluid contained by an
elastomeric skin. Electrodes are mounted on the surface of the rigid core and are
connected to an impedance-measuring device within the core. When the
artificial skin touches an object the fluid path around the electrodes is deformed,
producing impedance changes that map the forces received from the object.
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5. Vision
Computer vision is the science and technology of machines that see. As a
scientific discipline, computer vision is concerned with the theory behind
artificial systems that extract information from images. The image data can take
many forms, such as video sequences and views from cameras.
In most practical computer vision applications, the computers are pre-programmed
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to solve a particular task, but methods based on learning are now
becoming increasingly common.
Computer vision systems rely on image sensors which detect electromagnetic
radiation which is typically in the form of either visible light or infra-red light.
The sensors are designed using solid-state physics. The process by which light
propagates and reflects off surfaces is explained using optics. Sophisticated
image sensors even require quantum mechanics to provide a complete
understanding of the image formation process.
6. Manipulation
Mechanical arm 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 mechanical arm are often referred to as end effectors, while the
arm is referred to as a manipulator. Most mechanical arm 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.

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 trough it.
2 Vacuum Grippers: Pick and place robots for electronic components and
for large objects like car windscreens, will often use very simple vacuum
grippers. These are very simple astrictive devices, but can hold very large
loads provided the pretension surface is smooth enough to ensure suction.
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CHAPTER 2
CLASSIFICATION OF MECHANICAL ARM
Industrial mechanical arm are found in a variety of locations including the
automobile and manufacturing industries. Mechanical arm cut and shape
fabricated parts, assemble machinery and inspect manufactured parts. Some
types of jobs mechanical arm do: load bricks, die cast, drill, fasten, forge, make
glass, grind, heat treat, load/unload machines, machine parts, handle parts,
measure, monitor radiation, run nuts, sort parts, clean parts, profile objects,
perform quality control, rivet, sand blast, change tools and weld.
Outside the manufacturing world mechanical arm perform other important jobs.
They can be found in hazardous duty service, maintenance jobs, fighting fires,
medical applications, military warfare and on the farm.
2.1 TYPES OF MECHANICAL ARM AS PER APPLICATIONS
Nowadays, mechanical arm do a lot of different tasks in many fields. And this
number of jobs entrusted to mechanical arm is growing steadily. That's why one
of the best ways how to divide mechanical arm into types is a division by their
application.
2.1.1 Industrial Mechanical Arm: mechanical arm today are being
utilized in a wide variety of industrial applications. Any job that involves
repetitiveness, accuracy, endurance, speed, and reliability can be done much
better by robots, which is why many industrial jobs that used to be done by
humans are increasingly being done by mechanical arm.

2.1.2 Mobile Mechanical Arm: Also known as Automated Guided
Vehicles, or AGVs, these are used for transporting material over large sized
places like hospitals,container ports, and warehouses, using wires or markers
placed in the floor, or lasers, or vision, tosense the environment they operate in.
An advanced form of the AGV is the SGV, or the Self Guided Vehicle, like
PatrolBot Gofer, Tug, and Speci-Minder, which can be taught to autonomously
navigate within a space.
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2.1.3 Agriculture Mechanical Arm: Although the idea of Mechanical
Arm planting seeds, ploughing fields, and gathering the harvest may seem
straight out of a futuristic science fiction book, nevertheless there are several
Mechanical Arm in the experimental stages of being used for agricultural
purposes, such as mechanical arm that can pickapples.
2.1.4 Telemechanical Arm: These mechanical arm are used in places that
are hazardous to humans, or are inaccessible or far away. A human operator
located at a distance from a telemechanical arm controls its action, which was
accomplished with the arm of the space shuttle. Telemechanical arm are also
useful in nuclear power plants where they, instead of humans, can handle
hazardous material or undertake operations potentially harmful for humans.
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2.1.5 Service Mechanical Arm: The Japanese are in the forefront in these
types of mechanical arm. Essentially, this category comprises of any mechanical
arm that is used outside an industrial facility, although they can be sub-divided
into two main types of mechanical arm: one, mechanical arm used for
professional jobs, and the second, mechanical arm used for personal use.
Amongst the former type are the above mentioned mechanical arm used for
military use, and then there are mechanical arm that are used for underwater
jobs, or mechanical arm used for cleaning hazardous waste, and the like.
2.2 TYPES OF MECHANICAL ARM BY LOCOMOTION &
KINEMATICS
As you can understand, mechanical arm application alone does not provide
enough information when talking about a specific mechanical arm. For example
an industrial mechanical arm - usually, when talking about industrial
mechanical arm we think of stationary mechanical arm in a work cell that do a
specific task.
2.2.1 Cartesian Mechanical Arm : Used for pick and place work,
application of sealant, assembly operations, handling machine tools and arc
welding. It's a mechanical arm whose arm has three prismatic joints, whose axes
are coincident with a Cartesian coordinator.
2.2.2 Cylindrical Mechanical Arm : Used for assembly operations,
handling at machine tools, spot welding, and handling at die-casting machines.
It's a mechanical arm whose axes form a cylindrical coordinate system.
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2.2.3 Spherical/Polar Mechanical Arm : Used for handling at machine
tools, spot welding, die-casting, fettling machines, gas welding and arc welding.
It's a mechanical arm whose axes form a polar coordinate system.
2.2.4 SCARA Mechanical Arm : Used for pick and place work,
application of sealant, assembly operations and handling machine tools. It's a
mechanical arm which has two parallel rotary joints to provide compliance in a
plane.
2.2.5 Articulated Mechanical Arm : Used for assembly operations, die-casting,
fettling machines, gas welding, arc welding and spray painting. It's a
mechanical arm whose arm has at least three rotary joints.
2.2.6 Parallel Mechanical Arm : One use is a mobile platform handling
cockpit flight simulators. It's a mechanical arm whose arms have concurrent
prismatic or rotary joints.
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CHAPTER 3
SELECTION OF TASK
3.1 TASKS
The various tasks which a pick and place mechanical arm can perform are as
follows:-
3.1.1 Pick-And-Place
The use of mechanical arm 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 mechanical arm for
placing small items like candy and cookies in packages are often combined with
a visual observation system for identifying products.
3.1.2 Handling Of Flexible Packages
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. 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.
3.1.3 Cartooning Machines
Cartooning machines erect boxes from flat sheets of corrugated material. The
erected boxes are then filled with products or individual cartons and are then
prepared for the palletizing process. As with most packaging machines, vacuum
cups, vacuum pumps and other pneumatic components are an essential part of
the cartooning.

3.1.4 Rotary Cartoners
Rotary cartoner is one of the most popular types of cartooning machines. These
machines use a series of vacuum bars equipped with suction cups that move in a
continuous rotary motion. Rotary cartoners utilize a "pick-and-carry" motion to
move cartons.
3.1.5 Pick & Place Mechanical Arm
The use of specialized machines for high speed pick-and-place of small items
with suction cups is very common in the electronics and consumer industries.
This application is typically characterized by short cycle times, high
acceleration forces and large variations on the parts to be handled.
3.1.6 Seal Machines
During the pouch/bag forming phase vacuum is often applied to transport belts
that help provide a grip on both sides of the pouch/bag material. The vacuum
belt moves the pouch material from a web roll into position to receive the
product from the filler. Holes in the belt allow vacuum to hold the pouch while
the belt is rotating and the pouch is been removed.
3.1.7 Bag Opening
Vacuum and suction cups are used to pick and open paper and plastic bags.
Suction cups with stiffer bellows and a soft sealing lip are preferred in these
quite often high-speed applications.
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3.2 SELECTION OF TASK
 From the various tasks which can be done using the pick and place
Mechanical Arm we have particularly the process of picking & placing
process.
 We have decided to pick an box (Dimensions 45x45x65mm approx,
Weight 1.5 kg) from the conveyor.
 Then placing it at the center table , also picking a automobile tyre from
the work station and moving towards the center table.
 Placing of tyre at center table and again movement to the work station to
pick an another thing.
 So the picking & placing is done using this pick and place mechanical
arm.
3.3 WHY PICK & PLACE MECHANICAL ARM
We have selected the pick and place mechanical arm for this particular
process due to the following reasons:-
 Using of Human labour for the loading and unloading of the box and tyre
will consume more time.
 Even though Number of laborers is required more, the loading and
unloading time should include allowances if laborers are considered.
 Moreover the work can be done easily using a single pick and place
mechanical arm, which is used for both loading and unloading purpose.
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3.4 DEFINING WORK STATION
The work station for this operation of pick & place is been designed in such a
way that:-
 The box coming from the far distances is been sensed by a human and the
moment of the mechanical arm is been controlled by the mechanical arm.
 As one by one the boxes comes, the mechanical arm picks one box and
moves towards the centre table , keeps the boxes on the it.
 Then picks the tyre from there and moves towards the center table and
places the tyre there.
 Further mechanical arm movement continuous towards the return journey
takes a Box from table and again the above procedure is been carried out.
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CHAPTER 4
DESIGN PROCEDURE
4.1 FACTORS TO BE CONSIDERED
The various factors to be considered while designing of pick and place
mechanical arm are been discussed as follows. The factors are all important
while designing procedure of the mechanical arm.
4.1.1 Controls
The mechanical structure of a mechanical arm must be controlled to perform
tasks. The control of a mechanical arm involves three distinct phases -
perception, processing, and action. human knows information about the
environment (e.g. the position of its joints or its end effector). This information
is then processed to calculate the appropriate power to the actuators (motors)
which move the mechanical.
The processing phase can range in complexity. At a reactive level, it may
translate raw information directly into actuator power. human sense fusion may
first be used to estimate parameters of interest (e.g. the position of the robot's
gripper) . An immediate task (such as moving the gripper in a certain direction)
is done from these estimates. Techniques from control theory convert the task
into commands that drive the actuators.
At longer time scales or with more sophisticated tasks, the mechanical arm may
need to build and reason with a "cognitive" model. Cognitive models try to
represent the mechanical arm, the world, and how they interact. Pattern

recognition and computer vision can be used to track objects. Mapping
techniques can be used to build maps of the world. Finally, motion planning and
other artificial intelligence techniques may be used to figure out how to act. For
example, a planner may figure out how to achieve a task without hitting
obstacles, falling over, etc.
4.1.2 Autonomy Levels
Control systems may also have varying levels of autonomy.
 Direct interaction is used for hap tic or tale-operated devices, and the
human has nearly complete control over the mechanical arm motion.
 Operator-assist modes have the operator commanding medium-to-high-level
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tasks, with the mechanical arm figuring out how to achieve them.
 An autonomous mechanical arm may go for extended periods of time
without human interaction. Higher levels of autonomy do not necessarily
require more complex cognitive capabilities. For example, mechanical
arm in assembly plants are completely autonomous, but operate in a fixed
pattern.
Another classification takes into account the interaction between human control
and the machine motions.
1. Teleportation: - A human controls each movement; each machine
actuator change is specified by the operator.
2. Supervisory: - A human specifies general moves or position changes
and the machine decides specific movements of its actuators.
3. Task-level autonomy: - The operator specifies only the task and the
mechanical arm manages itself to complete it.

4. Full autonomy: - The machine will create and complete all its tasks
without human interaction.
4.1.3 Safety Requirements
The various safety requirements which were considered while designing the
mechanical arm are decided as follows:
 The mechanical arm should not be programmed such that it should
damage the Battery while holding it in its gripper.
 Correct holding position should be set as if it not set then while
movement of the mechanical arm it may drop the Lead Batteries which
can arise a Hazardous situation in the industry.
 The mechanical arm should be interfaced properly with the sensors been
placed near the Belt conveyor so as to know when the belt conveyor is to
be stopped or to be started to move the batteries ahead.
 Load carrying capacity should be maintained as it should be always more
than the default load which is to be shifted.
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CHAPTER 5
STEPS OF DESIGN
5.1 SELECTION OF PRODUCT
From the number of products available we selected the Box and tyre of
automobiles for been used in our project. We had number of options for the
selection of product, as per our requirement the Box and tyre was matching the
conditions. The other products which we considered were as follows:-
 Bearing:- Due to radial cross section of the bearing, it would be little bit
difficult for the mechanical arm Gripper to hold the bearing in it and
transport from one place to another holding it. So we rejected this product.
 Bags Of Iron Ore: - The fines bagging system was pre-decided but
due to the weight limit we switched over the other products.
5.2 DESIGNING OF WORKSPACE
The designing of work space have been done by keeping following points in
mind:-
 It should utilize Minimum time for doing the job.
 No obstructions should be there in between the workspace envelope.
 Idle time should be reduced as much as possible.
 Efficient and safe transportation of the Box should be under gone.
The design of work space includes a center table upon which the box from the
plant and it is been transferred to the centre table Using the mechanical arm.
There is moment of 90 degrees; the mechanical arm picks a Box from the
centre table after placing the Box. Then the mechanical arm proceed towards
the automobile tyre where it unloads and repeat the same procedure.

5.3 DEGREE OF FREEDOM
The number of DOF that a manipulator possesses is the number of independent
position variables that would have to be specified in order to locate all parts of
the mechanism; it refers to the number of different ways in which a mechanical
arm can move in the particular direction.
In the case of typical industrial mechanical arm, because a manipulator is
usually an open kinematic chain, and because each joint position is usually
defined with a single variable, the number of joints equals the number of
degrees of freedom.
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FIG 5.2 DEGREE OF FREEDOM.

We can use the arm to get the idea of degrees of freedom. Keeping the arm
straight, moving it from shoulder, we can move in three ways. Up-and-down
movement is called pitch. Movement to the right and left is called yaw. By
rotating the whole arm as screwdriver is called roll. The shoulder has three
degrees of freedom. They are pitch, yaw and roll.
Moving the arm from the elbow only, holding the shoulder in same position
constantly. The elbow joint has the equivalent of pitch in shoulder joint, thus the
elbow has one degree of freedom. Now moving the wrist straight and motion
less, we can bend the wrist and up and down, side to side and it can also twist a
little. The lower arm has the same three degrees of freedom. Thus the
mechanical arm has totally seven degrees of freedom. Three degrees of freedom
are sufficient to bring the end of a mechanical arm to any point within its
workspace, or work envelope in three dimensions.
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CHAPTER 6
WORKS TO BE DONE
6.1 SELECTION OF PARTS
Various components of appropriate specifications should be selected so as to
complete the fabrication and assembly of the mechanical arm. If the
selection is not done properly then the proper working of the mechanical arm
cannot be obtained. It includes the parts like selection of actuators, motors,
wires etc. Thus the selection procedure of various components is also an
important issue for the project work.
6.2 COMPLETION OF MODEL
HUMAN BEING
FIG 6.1 BLOCK DIAGRAM OF INTERFACING OF MECHANICAL ARM.

Future work is to fabricate and manufacture the complete body structure
of the mechanical arm, then the assembly of all the manufactured parts are to
be done so that the required load is lifted and been transported to the targeted
place.
6.3 INTERFACING WITH THE HUMAN
In the industrial design field of human-machine interaction, the user interface is
where interaction between humans and machines occurs. The goal of interaction
between a human and a machine at the user interface is effective operation and
control of the machine, and feedback from the machine which aids the operator
in making operational decisions.
A user interface is the system by which people (users) interact with a machine.
The user interface includes hardware (physical) and machine component. User
interfaces exist for various systems, and provide a means of:
 Input, allowing the users to manipulate a system,
 Output, allowing the system to indicate the effects of the users'
manipulation
After completion of the model of the pick and place mechanical arm and
selection of task both should be interfaced. The interfacing of mechanical arm
and human using it is the most important thing in the project. then final
movement should be set using the human control. The movement of mechanical
arm should be precisely managed causing no harm to the operator, and also the
box which are to be moved from one station to another.
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CHAPTER 7
HARDWARE REQUIREMENT
7.1 VEHICLE PARTS
 Card Board 29*20 cm
 Stearing System Akermen’s stearing system with 12 volt dc 10
Rpm moter
 Tyres dia. 8 cm
 Driver (Moters) 12 volt dc 100 rpm moter
7.2 ARM PARTS
All arm are manufactured with alloy GI pipes there dimensions are as follow:
Arm 1- with 360 degree rotation
Arm 2- with 110 degree rotation upward and downward
Arm 3- with 120 degree rotation upward and downward
Gripper – it has a span of 16 cm
All arm and gripper are driven by 100 rpm 12 volt dc moter.
7.3 WIRED REMOTE
It overall has 6 switches connected to different moters, one power switch wich
distribute power to all one by one according to task.
Power adapter is used to convert 240 volt ac supply to 12 volt dc supply

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CHAPTER 8
MAIN PARTS OF PROJECT
8.1 MECHANICAL ARM VEHICLE
A mechanical arm vehicle is an automatic machine that is capable of
locomotion. Mobile mechanical arm have the capability to move around in their
environment and are not fixed to one physical location. By contrast, industrial
mechanical arm are usually more-or-less stationary, consisting of a jointed arm
(multi-linked manipulator) and gripper assembly (or end effector), attached to a
fixed surface.
Mobile mechanical arm are a major focus of current research and almost every
major university has one or more labs that focus on mobile mechanical arm
research. Mobile mechanical arm are also found in industrial, military and
security settings. Domestic mechanical arm are consumer products, including
entertainment mechanical arm and those that perform certain household tasks
such as vacuuming or gardening

8.2 MECHANICAL ARM :
A mechanical arm, have similar functions to a human arm; the arm may be the
sum total of the mechanism or may be part of a more complex robot. The links
of such a manipulator are connected by joints allowing either rotational motion
(such as in an articulated robot) or translational (linear) displacement. The links
of the manipulator can be considered to form a kinematic chain. The terminus of
the kinematic chain of the manipulator is called the end effector and it is
analogous to the human hand.
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8.3 END EFFECTOR
The end effector, or mechanical arm, can be designed to perform any desired
task such as welding, gripping, spinning etc., depending on the application. For
example mechanical arms in automotive assembly lines perform a variety of
tasks such as welding and parts rotation and placement during assembly.
In robotics, an end effector is the device at the end of a mechanical arm,
designed to interact with the environment. The exact nature of this device
depends on the application of the machine.
the end effector means the last link (or end) of the mechanical arm. At this
endpoint the tools are attached. In a wider sense, an end effector can be seen as
the part of a mechanical arm that interacts with the work environment. This
does not refer to the wheels of a mobile mechanical arm or the feet of a
humanoid robot which are also not end effectors—they are part of the
mechanical arm mobility.
End effectors may consist of a gripper or a tool. The gripper can be of two, three
or even five fingers.
Surgical robots have end effectors that are specifically manufactured for the
purpose.
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8.4 CONTOLS:
The control of mechanical arm is done through moters which take dc power
supply through wired remote. The power comes from ac source and adapter
converts it into 12V dc supply.
A remote control vehicle is defined as any vehicle that is remotely controlled
by a means that does not restrict its motion with an origin external to the device.
This is often a radio control device, cable between control and vehicle.
A remote control vehicle or RCV differs from a robot in that the RCV is
always controlled by a human and takes no positive action autonomously
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CHAPTER 9
ADVANTAGES, DISADVANTAGES AND APPLICATIONS
9.1 ADVANTAGES
 Quality:
Industrial automated mechanical arm have the capacity to dramatically
improve product quality. Applications are performed with precision and
high repeatability every time. This level of consistency can be hard to
achieve any other way.
 Production:
With mechanical arm, throughput speeds increase, which directly impacts
production. Because an automated mechanical arm has the ability to
work at a constant speed without pausing for breaks, sleep, vacations, it
has the potential to produce more than a human worker.
 Safety:
mechanical arm increase workplace safety. Workers are moved to
supervisory roles where they no longer have to perform dangerous
applications in hazardous settings.
 Savings:
Improved worker safety leads to financial savings. There are fewer
healthcare and insurance concerns for employers. Automated mechanical
arm also offer untiring performance which saves valuable time. Their
movements are always exact, minimizing material waste.

9.2 DIADVANTAGES
 Expense:
The initial investment to integrated automated robotics into your business
is significant, especially when business owners are limiting their
purchases to new robotic equipment. The cost of robotic automation
should be calculated in light of a business' greater financial budget.
Regular maintenance needs can have a financial toll as well.
 ROI:
Incorporating industrial robots does not guarantee results. Without
planning, companies can have difficulty achieving their goals.
 Expertise:
Employees will require training program and interact with the new
robotic equipment. This normally takes time and financial output.
 Safety:
Robots may protect workers from some hazards, but in the meantime,
their very presence can create other safety problems. These new dangers
must be taken into consideration.
9.3 APPLICATIONS
 Application robots are being used worldwide to increase quality and meet
production requirements.
 RobotWorx integrates new and reconditioned robotic systems for a wide
spectrum of robot applications. Our expert engineers will help your
company find the solution for any application.
 WELDING ROBOT APPLICATIONS
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 Arc Welding
 Electron Beam
 Flux Core Welding
 Laser Welding
 MIG Welding
 Plasma Cutting
 Plasma Welding
 Spot Welding
 TIG Welding
 Welding Automation
 Material Handling Robot Applications
DIAGRAM SHOWING WIRING SYSTEM OF PROJECT:
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REFERENCES
 www.google.com
 www.wikipedia.com
 www.robologix.com
 www.robotics.com
 www.seattlerobotics.org/encoder/aug97/basics.html

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