TABLE OF CONTENTS
PAGE DECLARATION
iii ACKNOWLEDGEMENT
iv ABSTRACT
v TABLE OF CONTENTS
vi LIST OF FIGURES
ix LIST OF TABLES
xi
1.0 INTRODUCTION
1.1 Problem Statements
1 1.2
Project Objective 3
1.3 Project Scope
4
2.0 LITERATURE REVIEW
2.1 Previous Research
5 2.2
Theoretical Background 2.2.1
Arm Robot 7
2.2.2 Industrial Robot
7 2.2.2.1 Types of Robot
7 2.2.2.2 Technical description
8 2.3
Components of robots 12
2.4 Servomechanism
15
3.0
PROJECT BACKGROUND 3.0
Introduction 18
3.1 Basic Concept of the Project
18 3.2
Concept of the system 19
3.3 Process Algorithm
21
4.0 METHODOLOGY
4.0 Project Methodology
22 4.1
Project Implementation 23
4.2 Mechanical implementation hardware
25 4.3
Electrical implementation hardware 28
4.4 Combination of mechanical and electrical parts
30 4.5
Implementation of software 31
4.6 Hardware of the system
4.6.1 Servomotor 33
4.6.2 How does it works 34
4.6.3 Servomotor Wiring 34
4.6.4 Types of Servomotor Used 35
4.6.5 Angle Calculation of Servomotor 36
4.7 Programmable Logic Controller Overview
38
5.0 RESULT
5.0 Result
39 5.1
Program of the Robotic Arm Palletizing System 41
5.2 Expected resulted
42
6.0 DISCUSSION AND CONCLUSION
6.0 Discussion
6.0.1 Problems encountered 43
6.1 Recommendations
45 6.2
Conclusion 45
REFERENCES 46
APPENDICES 47
LIST OF TABLE
TABLE TITLE
PAGE
4.1 Specifications of Cytron C36S servo motor
35 4.2
Specifications of Cytron C40S servo motor 35
5.1 Logic Table
41
LIST OF FIGURES
FIGURE TITLE
PAGE
1.1 A genealogy of project scope
4 2.1
A robot leg 13
2.2
Industrial servomotor 17
3.1 Illustration of concept for the project
19 3.2
Process Algorithms for the System 21
4.1 Overall flowchart of methodology
23 4.2
Flowchart of project implementation 24
4.3 Flowchart of literature review
25 4.4
Flowchart for mechanical implementation 27
4.5 Flowchart of electrical part
29 4.6
Flowchart for combination of mechanical and electric parts 30
4.7 Combination of hardware and software
32 4.8
Illustration of servomotor 33
4.9 Servomotor diagram
34 4.10
Cytron Hobby Servo Wiring 34
4.11 Dimension of Cytron C36S servo motor
35 4.12
Servomotor kit from Cytron 36
4.13 DC servo motor
36 5.1
Complete palletizer robot 40
5.2 Arm robot body
40 5.3
Connection of relay and connector to PLC 40
5.1 Ladder Diagram
42
CHAPTER 1
INTRODUCTION
1.0 Introduction
