4.3.3 Gripper 40
4.3.4 Control Box 41
4.4 Software
42 4.4.1 Programming Language
42 4.4.2 Simulation Software
42 4.4.3 Downloader Program
42
5 ANALYSIS
5.1 Experiment 1
44 5.2
Experiment 2 47
5.3 Experiment 3
50
6 CONCLUSION FUTURE PLANNING
6.0 Conclusion
57
6.1 Future Planning
58
REFERENCE 60
APPENDIX 61
LIST OF TABLES
TABLE TITLE
PAGE 2.0
Various brand of Microcontroller 6
2.1 Specifications of Rhino Robot
11 3.0
Link Parameter for Robotic Arm 24
LIST OF FIGURES
FIGURE TITLE
PAGE 1.0
Methodology Flow Chart 3
2.0 Elements in Microcontroller
5 2.1
PIC from Microchip 7
2.2 877-TB PIC Board
9 2.3
RHINO Robot 10
3.0 PIC16F877A
15 3.1
Controller Circuit Diagram 16
3.2 Input Connections to Push Button
17 Circuit Diagrams
3.3 Output Connections to Srevo Motor
17 Circuit Diagrams
3.4 IO connections to PIC 1 Primary
18 3.5
IO connections to PIC 2 Secondary 18
3.6 Servomotor
20 3.7
Diagram of pulse widths sent to control 21
Servo Motor position 3.8a
Robotic Arm Concept 22
3.8b Robotic Arm Concept
22 3.9
Expected Work Space 23
3.10 Details of Robotic Arm Sections
24
4.0 Design of the PCB board
25 4.1a
Top Layer of the PCB board 26
4.1b Bottom Layer of the PCB board
26 4.2a
Exact size of top layer PCB 27
4.2b Exact size of bottom layer PCB
27 4.3
PCB layout of the input connection 28
4.4 PCB layout of the output connection.
28 4.5
Secondary Controller Board 28
4.3a Exact size of Input Control Connection PCB
29 4.4a
Exact size of Servo Output Connection PCB 29
4.5a Exact size of Secondary Controller PCB
30 4.6
Main Controller Board with Serial Connection 31 4.7
Input and Output Connection Board 31
4.8 Secondary Controller Board
32 4.9
Connections to primary PIC IO pins 33
4.10 Connections to secondary PIC IO pins
33 4.11
Output connections to Servo Motor 34
4.12 Input Connections from push button
34 4.13
Overall Robotic Arm Structure 35
4.14 Overall Robotic Arm Structure
35 4.15
The base of the structure 36
4.16 Connection of Base to Arm 1
