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1.2 Problem Statement
Robot is usually using in industries technology especially in heavy industries. And it is also popular by replacing human to do some work which is dangerous to do
by human, for example is chemical work, Electro Static Discharge ESD working area, lift heavy thing and many more. In real life, the gripper robot is used for liquid
pour application. From the previous gripper robot, the robot wrist cannot rotate and the liquid cannot pour. To solve this problem, the up side down robot gripper is
design. The special criteria for this robot compare with others are this robot can rotate the wrist 180 degree to pour the liquid. The another robot gripper only can move up
side down and grip thing. With this improvement, the liquid pour application will be improve and make our heavy lift work become easy and also to complete the task for
Robocon to score point easily.
1.3 Objective
The objective of this project is : To improve the liquid pour application in the industrial sector.
To make our heavy lift work become easy. To complete the task for ROBOCON to score point easily.
To design new robot for lift thing application. To study and design the PIC16F877programming for software and hardware
for microcontroller. To gain experience in system design, hardware and software design, electrical
and mechanical drawing, wiring, troubleshooting and documentation. To design and construct a prototype of up side down robot gripper
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1.4 Scope of Project
The scope of this project is divided by two parts, the hardware and the software. The hardware involves designing the mechanical part and electrical
part for up side down robot gripper. The mechanical part involves the chassis, and the electrical part involves in microcontroller and driver circuit. The
software involves designing and writing the program for the robot to move forward, backward, left, right, up, down and grip.
1.5 Methodology
1 Collecting information
i. PIC function
ii. Operation method
iii. Understand Software C- language
2 Circuit development
i. PIC basic circuit
ii. Driver motor circuit
3 Design and develop the robot model
i. Design the gripper
ii. Develop the hardware part of robot
iii. Combine the motor with robot model
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4 Software development
i. Do flowchart for operation of robot
ii. Design the program using C- language
5 Combine the software and robot model
i. Burn the program in the PIC16f877A IC
ii. Wiring the robot
iii. Connect the driver circuit with motor
6 Testing
i. Testing and define the problem when combine the software and
hardware.
7 Provide final report
i. Provide the report about the gripper robot
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The development project flowchart
Figure1.1: Flowchart of development project
START
COLLECTING INFORMATION
CIRCUIT DEVELOPMENT
DESIGN AND DEVELOP THE
ROBOT MODEL
SOFTWARE DEVELOPEMENT
COMBINE SOFTWARE AND
ROBOT MODEL
TESTING
PROVIDE FINAL REPORT
FINISH
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CHAPTER II
LITERATURE REVIEW
2.0 Introduction
The term robot comes from the Czech word robota [1], generally translated as
forced labor[2]. This describes the majority of robots fairly well. Most robots in the world are designed for heavy, repetitive manufacturing work. Robot is usually using
in heavy industries. Robot also popular by replacing human to do some work which is dangerous and difficult to do by human, for example is chemical work, Electro Static
Discharge ESD working area, lift heavy thing and many more. The most common manufacturing robot is the robotic arm. A typical robotic arm is made up of seven
metal segments, joined by six joints. The computer controls the robot by rotating individual step motors connected to each joint some larger arms use hydraulics or
pneumatics.The robot uses motion sensors to make sure it moves just the right amount. The up side down robot gripper is same like arm robot, but the differential is
this robot can move forward, backward, left, right and the wrist can rotate 180 degree. The up side down robot gripper is controlled by using microcontroller PIC16F877.
The PIC16F877 microcontroller will control the motor and gripper movement.
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2.1 Gripper Robot Background
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 [3]. 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. Grippers: A common effectors is the gripper. Usually it consists of just two
fingers which can open and close to pick up and let go of a range of small objects.
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, but can hold very large loads, and pick up any object with a smooth surface to suck on to.
General purpose effectors: Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand right, or the Chunk hand. These
highly dexterous manipulators, with as many as 20 degrees of freedom and hundreds of tactile sensors can be difficult to control. The computer must
consider a great deal of information, and decide on the best way to manipulate an object from many possibilities.
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2.2 The Similarities Case Study
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