ROBOTIC ARM WITH VEHICLE---
It can be operated manually as well as in automation mode as it uses a programmable microcontroller system. It is four wheeled vehicle with a aluminum arm and grip that is it is meant for pick and place. A high torque D.C. motors makes it powerful robot which can pick and place about 1.5kg of wt., can push a 2kg wt.
Material required – aluminum strips , nuts and bolts, drill, file, cutter ,wiser ,rubber ,a plastic tires which can be easily available from any toy or from robotic shops .pulleys and a high tension strand which runs from motor shaft ,over the pulley and to one limb of grip. Which helps to pull and open the gripper ,a spring tension can be used to close the opened gripper.
1) microcontroller - AT89c52 (40 PINS)
2) motor driver IC – l293d
3) push to on switches
4) bug strips and connectors, bus ,elementary connector (10)
TO DO--—
interface 2 l293d Ic’s with microcontroller which is able to drive four motors in both direction .
Built a keyboard using push to on switches having logic low output when key is pressed a line get connected to logic low
now connect these k/b lines with ports of microcontroller
also connect reset circuitry .then connect l293d ics to port pins .
Provide a supply of 5v to logic circuit and a supply of 12v to l293d pins 8 and 16.
Now write a program which will take i/p from all k/b lines and if zero the corresponding key can be recognized using instruction ‘jnc’ then branch program using “acall” instruction to execute the task whether to move forward, backward ,left, right ,or arm up, arm down ,grip open or grip close- provide these number of keys on board and subroutines in program so that all these movement can be done manually.
For automation mode decide all details of robot movements and track then providing sufficient delays you can incorporate automation in it
Otherwise you can interface c.c.d camera to it and using image processing you can detect track and pick the objects.
Net searches-search data sheets of l293d,microcontroller 89c52, study instruction set of microcontroller and downloading of program
You can use ‘c’ language ,embedded ‘c’ and also you can built a in-system programming card to program your microcontroller.
SJMP START
ORG 0040H
START: MOV A,#0FFH
MOV P2,A
MOV A,#00H
MOV P3,A
CLR P1.5
CLR P1.4
SETB C
SETB P1.0
CHECK1:MOV C,P1.0
JNC FWD
LCALL STOP
CHECK2:MOV C,P1.1
JNC LEFT
LCALL STOP
CHECK3: MOV C,P1.2
JNC RIGHT
LCALL STOP
CHECK4:MOV C,P1.3
JNC BACK
LCALL STOP
COND1:MOV C,P0.0
JNC UP
LCALL STOP
COND2: MOV C,P0.1
JNC DOWN
LCALL STOP
COND3: MOV C,P0.2
JNC LIFT
LCALL STOP
COND4: MOV C,P0.3
JNC PUSHD
LCALL STOP
SJMP CHECK1
FWD: CLR P2.7
SETB P3.0
SETB P3.2
CLR P3.1
CLR P3.3
SJMP CHECK1
LEFT: CLR P2.7
SETB P3.0
CLR P3.1
CLR P3.2
SETB P3.3
SJMP CHECK2
RIGHT: CLR P2.7
SETB P3.2
CLR P3.3
CLR P3.0
SETB P3.1
SJMP CHECK3
BACK:CLR P2.7
SETB P3.1
SETB P3.3
CLR P3.0
CLR P3.2
SJMP CHECK4
UP: CLR P2.7
SETB P3.6
CLR P3.7
SJMP COND1
DOWN: CLR P2.7
SETB P3.7
CLR P3.6
SJMP COND2
LIFT: CLR P2.7
SETB P1.4
CLR P1.5
SJMP COND3
PUSHD:CLR P2.7
SETB P3.4
CLR P3.5
SJMP COND4
STOP: CLR C
SETB P2.7
CLR P2.2
CLR P3.0
CLR P3.1
CLR P3.2
CLR P3.3
CLR P3.6
CLR P3.7
CLR P1.4
CLR P1.5
RET
END
Actual Robot Photos-
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