PICK & PLACE ROBOT IS ONE OF THE AUTOMATED MATERIAL HANDLING SYSTEM

1. PICK AND PLACE ROBOT
Presented by
NAME : S.ARUNKUMAR
DEPARTMENT : MECHANICAL ENGINEERING
COLLEGE : SUDHARASAN ENGG COLLEGE

2. INTRODUCTION
In this project, stud mechanism has been used in robot for pick
and place operations those are very frequently used in industries and
domestic purpose. Use of stud makes the mechanism simple and
inexpensive.

4. WORKING
Stud (having threads at both ends) working concept has
been used here for pick and place robot. At one end of the stud, DC motor
has been engaged and at another end movement of longitudinal
beam/opening and closing of gripper has been attached as shown in Two
motors have been used, one for opening-closing of gripper to grip the part or
component and second for up-down movement of longitudinal beam. As
motor rotates, stud rotates. On other end than motor end, thread has been
tied which is going to be loose or tight as motor rotation to be clockwise or
anticlockwise, in result motion of longitudinal beam/opening-closing of
gripper happens.

5. End-of-arm tooling
The most essential robot peripheral is the end effector, or end-of-
arm-tooling (EOT).Common examples of end effectors include welding
devices (such as MIGwelding guns, spot-welders, etc.), spray guns and also
grinding and deburring devices (such as pneumatic disk or belt grinders,
burrs, etc.), and grippers (devices that can grasp an object, usually
electromechanical or pneumatic). Other common means of picking up objects
is by vacuum or magnets. End effectors are frequently highly complex, made
to match the handled product and often capable of picking up an array of
products at one time. They may utilize various sensors to aid the robot system
in locating, handling, and positioning products.

6. Controlling movement
For a given robot the only parameters necessary to completely locate the end
effector (gripper, welding torch, etc.) of the robot are the angles of each of the
joints or displacements of the linear axes (or combinations of the two for robot
formats such as SCARA). However, there are many different ways to define the
points. The most common and most convenient way of defining a point is to
specify a Cartesian coordinate for it, i.e. the position of the 'end effector' in mm in
the X, Y and Z directions relative to the robot's origin. In addition, depending on
the types of joints a particular robot may have, the orientation of the end effector
in yaw ,pitch , and roll and the location of the tool point relative to the robot's
faceplate must also be specified. For a jointed arm the coordinates must be
converted to joint angles by the robot controller and such conversions are known
as Cartesian Transformations which may need to be performed iteratively or
recursively for a multiple axis robot. The mathematics of the relationship between
joint angles and actual spatial coordinates is called kinematics. See robot
controlPositioning by Cartesian coordinates may be done by entering the
coordinates into the system or by using a teach pendant which moves the robot in
X-Y-Z directions. It is much easier for a human operator to visualize motions
up/down, left/right, etc. than to move each joint one at a time.

7. Estimated worldwide annual supply of
industrial robots in units): Year supply
1998 69,000
1999 79,000
2000 99,000
2001 78,000
2002 69,000
2003 81,000
2004 97,000
2005 120,000
2006 112,000
2007 114,000
2008 113,000
2009 60,000
2010 118,000
2012 159,346
2013 178,132
2014 229,261
2015 253,748
2016 294,312
2017 381,335

9. Market structure
Japan had the largest operational stock of industrial robots, with
286,554 at the end of 2015. The United States industrial robot-makers shipped
35,880 robot to factories in the US in 2018 and this was 7% more than in 2017.
The biggest customer of industrial robots is automotive industry
with 33% market share, then electrical/electronics industry with 32%, metal and
machinery industry with 12%, rubber and plastics industry with 5%, food industry
with 3%. In textiles, apparel and leather industry, 1,580 units are operational.

10. WORKING PROCESS
American National Standard for Industrial Robots and Robot
Systems —Safety Requirements (ANSI/RIA R15.06-1999) defines a singularity
as “a condition caused by the collinear alignment of two or more robot axes
resulting in unpredictable robot motion and velocities”It is most common in
robot arms that utilize a “triple-roll wrist”. This is a wrist about which the three
axes of the wrist,controlling yaw, pitch, and roll, all pass through a common
point. An example of awrist singularity is when the path through which the robot
is traveling causes the firstand third axes of the robot's wrist (i.e robot axes 4 and
6) to line up. second wrist axis then attempts to spin 180° in zero time to
maintain the orientation of the end effector. Another common term for this
singularity is a “wrist flip”. The result of a singularity can be quite dramatic and
can have adverse effects on the robot arm, the end effector, and the process.
Some industrial robot manufacturers have attempted to sidestep the situation by
slightly altering the robot's path to prevent this condition.Another method is to
slow the robot‘ travel speed, thus reducing the speed required for the wrist to
make the transition. The ANSI/RIA has mandated that robot manufacturers shall
make the user aware of singularities if they occur while the system is being
manually manipulated.

12. Types and features
A set of six-axis robots used for welding. Factory Automation
with industrial robots for palletizing food products like bread and toast at a
bakery in Germany The most commonly used robot configurations are
articulated robots, SCARA robots, delta robots and Cartesian coordinate
robots, (gantry robots or x-y-z robots). In the context of general robotics, most
types of robots would fall into the category of robotic arms (inherent in the use
of the word manipulator in ISO standard 8373). Robots exhibit varying.

13. Degrees of autonomy:
Some robots are programmed to faithfully carry out specific
actions over and over again (repetitive actions) without variation and with a
high degree of accuracy. These actions are determined by programmed
routines that specify the direction, acceleration,velocity, deceleration, and
distance of a series of coordinated motions.Other robots are much more
flexible as to the orientation of the object on whichthey are operating or even
the task has to be performed on the object itself,which the robot may even
need to identify. For example, for more precise guidance, robots often contain
machine vision sub-systems acting as their visual sensors, linked to powerful
computers or controllers.[3] Artificial intelligence, or what passes for it, is
becoming an increasingly important factor in the modern industrial robot.The
earliest known industrial robot, conforming to the ISO definition was
completed by "Bill" Griffith P. Taylor in 1937 and published in Meccano
Magazine,March 1938.

14. Implementation
The first two IRB 6 robots were sold to Magnusson in Sweden for
grinding and polishing pipe bends and were installed in production in January
1974. Also in 1973 KUKA Robotics built its first robot, known as
FAMULUS, also one of the first articulated robots to have six
electromechanically driven axes.

16. Application
Industries for assembly process automation
welding
Medical application
Hazardous environment
PCB manufacturing units
Space exploration
Furnace manufacturing units
Oil refineries
Notable robotic arms and low cost robotic arms