Robot Gripper Using Microprocessor 68000.

ROBOT GRIPPER USING MICROPROCESSOR 68000

ANUAR BIN SAMSUDIN

A report submitted in partial fulfillment of the requirements for the degree of Electrical Engineering (Industrial Power)

Faculty of Electrical Engineering UNIVERSITI TEKNIKAL MALAYSIA MELAKA

ROBOT GRIPPER USING MICROPROCESSOR 68000

Anuar Bin Samsudin

Bekp

“I hereby declare that i have read through this report entitle “Robot Gripper using microprocessor 68000” and found that it has comply the pertial fulfilment for awarding the degree of Bachelor of Electrical Engineering (Industrial Power)”

Signature : ... Supervisor’s Name : ... Date : ...

I declare that this report entitle “Robot Gripper using microprocessor 68000” is the result of my own research except as cited in the references. The report has not been accepted for any degree and is not concurrently submitted in candidature of any other degree.

Signature : ... Name : ... Date : ...

ACKNOWLEDGEMENTS

Firstly, I would like to express my deep and sincere gratitude to ALLAH S.W.T for giving me the strength and ability to complete this project. I am deeply grateful to my supervisor, En. Masree bin Ibrahim for his detailed and constructive comments, and for his important support throughout this project research. I owe my loving thanks to my parents and family. Without their encouragement and understanding it would have been impossible for me to finish this FYP 2 report.

Finally, I would like to thank to all my friends for their unwavering support in completion of this project. Without the support of those mentioned above, this completion would not have happened.

TABLE OF CONTENT

CHAPTER TITLE PAGE

ACKNOWLEDGEMENT ii

ABSTRACT iii

TABLE OF CONTENT iv

LIST OF FIGURES v

1 INTRODUCTION 1

1.1 Project Background 1

1.2 Project Objective 2

1.3 Project Scope 2

1.4 Problem statement 3

2 LITERATURE REVIEW 4

2.1 component 4

2.2 Schematic diagram 8

2.3 Limit switch 10

2.4 The Wiring and Switches 11

2.5 Application 13

3 METHOD OR EXPERIMENTAL SETUP 18 18 3.1 introduction 19 3.2 component 19 3.2.1 power window

20 3.2.2 curtain steel

21 3.2.3 pipe

22 3.2.4 rope

23 3.2.5 cable tie

24 3.3 Tool

24 3.3.1 glue gun

24 3.3.2 saw 25 3.3.3 lighter 26 3.3.4 pliers 26 3.3.5 screw driver

27 3.3.6 hammer

28 3.3.7 measure tape

28 3.3.8 marker pen

29 3.3.9 PVC pipe cutter

4 RESULT OF ANALYSIS 30

4.1 Initial idea 30

4.1.1 The lifting part ₃₄

4.1.2 The horizontal part 35

4.2 problem arise 37 4.2.1 problem at x-axis motor 37 4.2.2 problem at y-axis motor 37

4.2.3 gripper imbalance 38

4.2.4 problem for all the motor 39

4.3 problem solvent 39

4.4 final result 47

5 CONCLUSION AND RECOMENDATION 53

5.1 conclusion ₅₃

53 5.2 recommendation

55 REFERENCE

LIST OF FIGURES

FIGURE TITLE PAGE

2.1a Schematic for microprocessor part 1 8

2.1b Schematic for microprocessor part 2 9

2.1c Schematic for microprocessor part 3 9

2.2 Limit switch 10

2.3a Power window circuit anti-clockwise 11

2.3b Power window circuit clockwise 12

2.4 Cargo container 13

2.5 Cargo container transport 14

2.6 The transferred process 15

2.7 The port of transferring crane 16

2.7 The port of transferring crane 16

2.8 The view of singapore port 17

3.1 Power window motor 19

3.2 Curtain steel 20

3.3 PVC pipe 21

3.4 Rope 22

3.5 Cable tie 23

3.6 The glue gun 24

3.7 The saw 24

3.8 The heating process of the screw driver 25

3.9 The used of pliers 26

3.10 The process to make the hole on the steel plate 27

3.11 Measure tape 28

3.12 Maker pen 28

4.1 power window circuit 31

4.2a position adjustment 32

4.2b wire adjustment 32

4.2c tighten the connection 33

4.2d tight the robot gripper 33

4.2e initial design of robot gripper x-axis and y-axis component 34

4.3a the lifting part left view 34

4.3b the lifting part right view 35

4.4 horizontal part 35

4.5 Framework of the robot gripper 36

4.6 Horizontal motor 37

4.7 lifting part 38

4.8 imbalance gripper 38

4.9a adjusted horizontal part 39

4.9b horizontal part 40

4.10a adjusted lifting motor 41

4.10b adjusted lifting part 41

4.11a adjusted imbalance gripper 42

4.11b adjusted imbalance gripper from another view 43 4.11c adjusted imbalance gripper from front and behind 43 4.12 the adjusted circuit to limit the motor movement 44

4.13a limit switch on the gripper part 45

4.13b limit switch on the gripper part 45

4.14 limit switch on the horizontal part 46

4.15 limit switch on the lifting part 47

4.16 first trial 48

4.17 second trial 49

4.18 3rd trial 49

4.19 actual circuit by proteus 50

4.20 front circuit for UV exposed 51

LIST OF TABLES

FIGURE TITLE PAGE

ABSTRACT

manufacturing industry increasingly grow, with demand to various worldwide types of goods, delivery of the goods by using container in great amount be increasingly vital and cheapest road of manufacturer industry to the worldwide. Increasing effectiveness of the transfer

process of container is main priority to make goods transfer system increasingly effective. The main idea want to suggest in this FYP is creating Crane model that fully controlled by

computer and it can arrange cargo exactly to which place has programmed without any human control. Therefore, it will be able to reduce cost, man power and it is more effective. It also can reduce accident resulted from human carelessness. Human will often do offence caused by carelessness; while robot can do the same subject thousands times without doing many faults.

1 CHAPTER 1

INTRODUCTION

1.1Project Background

Robot gripper is often used in industrial sector to do repetitive work like transferring an object to another location. The used of the robot gripper is mostly to decrease the man power usage to do the repetitive work. This are to cut cost man power usage aside controlling the product quality. Many industries have been changing from the use of much manpower to the use of robot in certain part to increase product output and scoop large profit.

Robot is a machine programmed to do set fix functions efficiently without doing many faults and it can work continuing without tired aside product quality is guaranteed.

Robot is a worth of investment. Although it need large capital, but in long period it’s very profitable .it only need a single cash, compared to manpower utilization that need salary paid every month.

No disciplinary problem, work follow directive, not fight said, tireless and capacity work much longer over human is characteristic for a robot. Hence, product output can be increased exponentially compared to manpower.

2 But maintenance for robot needs to be supervised and it contributes to fix cost, once it damaged need large sum of cash. Sometimes for trivial purpose, robot application is unprofitable compared to manpower. In that cases, the manpower utilization more compatible aside it low in cost.

There are certain thing cannot be done by robot, and manpower utilization still needed to tackle these problem. Therefore, robot can help increase the production but still need human to overcome it weakness. All matter cannot be resolved by using robot merely, industrial sector cannot live without manpower. The balance of robot and manpower utilization is important to achieve ideal production sector.

1.2 Objective

To design a robot gripper that can grab object firmly

To study about the suitable sensor or limit switch for motor sensor tuning To study about the microprocessing programming which related to this project To produce simple model of robot gripper using microprocessor

1.3 Scope

Using IDE 68k to simulate the motor movement for robot gripper Execute certain test to measure the motor movement

3 1.4 Problem statement

Gripper design Suitable motor

4 CHAPTER 2

LITERATURE REVIEW

2.1 Component

68000 microprocessor controller component

component function

MC68000 A microprocessor in-corporates most or all

of the functions of a (CPU) on a single

the early 1970s and were used for

electronic

5

27C64(EPRom)/2864(EEPRom) An EPROM, or Erasable Programmable

supply is switched off. In other words, it is electronic device that supplies higher voltages than those normally used in digital circuits.[7]

6264(RAM) Static random access memory (SRAM) is a

type of word static indicates that, unlike periodically

SRAM exhibits

s

data is eventually lost when the memory is not powered.[8]

74LS138(Decoder) In digital electronics this would mean that

a decoder is a input, multiple-output

6 inputs into coded outputs, where the input and output codes are different. e.g. n-to-2n, BCD decoders.[9]

74LS541(Tri-buffer) Octal-buffer[10]

74HC574(Latch) a latch is a kind of

states and thereby can store one information. Today the word is mainly used for simple transparent storage elements, while slightly more advanced

non-transparent (or clocked) devices are described as

7407 Hex-buffer[12]

74LS04 Inverter/not gate[13]

555(Timer) The 555 monolithic timing circuit is a

7 producing accurate time delays, or oscillation.[14]

Resistor 330Ω ,10KΩ, 100KΩ A resistor is a two

between its terminals in proportion to the current, that is, in accordance wit

Capacitor 10µF, 47µF A capacitor is

(called "plates"). The process of storing energy in the capacitor is known as "charging", and involves of equal magnitude, but opposite polarity, building up on each plate. A capacitor's ability to store charge is measured by its

Pushbutton switch a simple

8

7 segment display is a form of electroni

displaying alternative to the more complex displays. Seven-segment displays are widely used in displaying numerical information[18]

Table 2.1: component function

2.2 Schematic diagram

Figure 2.1a: schematic for microprocessor part 1 (Power, address and data bus)

9

Figure 2.1b: schematic for microprocessor part 2 (Timer, clock and control bus)

Figure 2.1c: schematic for microprocessor part 3 (Input and output)

10 2.3 Limit switch

Figure 2.2: Limit Switch

Figure 2.2 showed the sample of variety type limit switch.

Limit switches are usually used to indicate an end of travel, or to prevent a motor from travelling too far in one direction. It stop the gripper from exert much force on the object by stop the gripper movement when it touch the limit switch.

11 2.4 The Wiring and Switches [1]

We'll go through the wiring on a basic system -- one that allows the driver to control all four windows on the car and can lockout the controls on the other three individual windows. [1]

Basic system[1]

On this system, the power is fed to the driver's door through a 20-amp circuit breaker. The power comes into the window-switch control panel on the door and is distributed to a contact in the center of each of the four window switches. Two contacts, one on either side of the power contact, are connected to the vehicle ground and to the motor. The power also runs through the lockout switch to a similar window switch on each of the other doors.[1]

Figure 2.3a: Power window circuit anti-clockwise

Figure 2.3a showed the power window motor controlled from the driver to turn it anti-clockwise.

12 Figure 2.3b: Power window circuit clockwise

Figure 2.3b showed the power window motor controlled from the driver to turn it clockwise.

When the driver presses one of the switches, one of the two side contacts is disconnected from the ground and connected to the center This provides power to the window motor. If the switch is pressed the other way, then power runs through the motor in the opposite direction.[1]

7 producing accurate time delays, or oscillation.[14]

Resistor 330Ω ,10KΩ, 100KΩ A resistor is a two

between its terminals in proportion to the current, that is, in accordance wit

Capacitor 10µF, 47µF A capacitor is

(called "plates"). The process of storing energy in the capacitor is known as "charging", and involves of equal magnitude, but opposite polarity, building up on each plate. A capacitor's ability to store charge is measured by its

Pushbutton switch a simple

8

7 segment display is a form of electroni

displaying alternative to the more complex displays. Seven-segment displays are widely used in displaying numerical information[18]

Table 2.1: component function

2.2 Schematic diagram

Figure 2.1a: schematic for microprocessor part 1 (Power, address and data bus)

9

Figure 2.1b: schematic for microprocessor part 2 (Timer, clock and control bus)

Figure 2.1c: schematic for microprocessor part 3 (Input and output)

10 2.3 Limit switch

Figure 2.2: Limit Switch

Figure 2.2 showed the sample of variety type limit switch.

Limit switches are usually used to indicate an end of travel, or to prevent a motor from travelling too far in one direction. It stop the gripper from exert much force on the object by stop the gripper movement when it touch the limit switch.

11 2.4 The Wiring and Switches [1]

We'll go through the wiring on a basic system -- one that allows the driver to control all four windows on the car and can lockout the controls on the other three individual windows. [1]

Basic system[1]

On this system, the power is fed to the driver's door through a 20-amp circuit breaker. The power comes into the window-switch control panel on the door and is distributed to a contact in the center of each of the four window switches. Two contacts, one on either side of the power contact, are connected to the vehicle ground and to the motor. The power also runs through the lockout switch to a similar window switch on each of the other doors.[1]

Figure 2.3a: Power window circuit anti-clockwise

Figure 2.3a showed the power window motor controlled from the driver to turn it anti-clockwise.

12 Figure 2.3b: Power window circuit clockwise

Figure 2.3b showed the power window motor controlled from the driver to turn it clockwise.

When the driver presses one of the switches, one of the two side contacts is disconnected from the ground and connected to the center This provides power to the window motor. If the switch is pressed the other way, then power runs through the motor in the opposite direction.[1]