International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 3 – Oct 2014
Android Based Robot Implementation For Pick
and Retain of Objects
Ranjith Kumar Goud1, B.Santhosh Kumar2
1
pursuing M.Tech (ES) , 2Assistant Professor & HOD (ECE Department)
1,2
Visvesvaraya College of Engineering and Technology (VCET), M.P.Patelguda, Ibrahimpatnam, RangaReddy, Telangana,
INDIA
Abstract—Now-a-days it is complicated about terrorists
and their bomb attacks. Even though we found a bomb it
is much more complicated to remove the bomb safely.
Many lives are depending on the bomb diffusion. Our
project helps in diffusion of bombs with safe distance from
the bomb. Bomb diffusion is controlled with the help of
wireless communication using android phones. By our
project we can diffuse the bomb from safe distance and it
can save more lives. We can send the few commands to the
robot situated at the bomb. We can control two motors
situated at the wheels for direction control and other two
motors at robot hand. With these four motors we can
control all the directions of the robot and at the same time
we can pick any object at any direction.
By using four motor and few commands we can diffuse the
bomb by staying at safe distance. Here we use gare motors for
high torque.
Pick and place robots are very convenient they are
very accurate when compared to the humans. They are
accurate to millimetres. They are high speed when compared
to the human hands. Once we programme the robot to
specified work like to fix the wheel to car then it continuously
fixes the wheels one car after other car. In this process the
accuracy is very high and it faster than men power. They are
very useful in the industries like cars, bikes etc, like
assembling the different parts. By using these robots the work
is done with high efficiency and speed also.
Keywords—Wireless
communication,
Bluetooth,microcontroller, motor drivers, motors, robot
arm, android mobile phone.
I.
INTRODUCTION
Whenever we detect the bomb on sight we can send our
project to bomb sight. First we need to establish the
communication link between our android mobile phone and
the robot. After establishing the communication link between
these twous can send our robot to the bomb sight by sending
bunch of commands to the robot using android mobile phone.
We have an android app which can send ssp commands using
Bluetooth. When we send command from our transmitter
(Android mobile phone) to robot. Our robot consists of
Bluetooth module once connection is established our robot
receives every command transmitted form the mobile and vice
versa. We can send five commands to robot for direction
control which are predefined for each direction like front,
back, left, right and stop. With the help of these commands we
can send our robot to the bomb sight.
If convenient we can place wireless camera in front
of the robot for clear view. After our robot is in position we
have move the robotic arm which is placed above the robot.
After deciding to cut wire of bomb we need to move robot
jaws and arm. Jaws are used to move arm up or down. One
motor is dedicated to control the jaw moment. Other motor is
used to control the arm. This is used to tighten the grip or
losing the grip. If we are unable to cut the wire or so we can
directly move the bomb to the safe sight.
ISSN: 2231-5381
Fig 1.Robot arm
Voltage level of the data of Bluetooth module RS232
which is of +3v to +25v and -3v to -25v.Voltage level of
micro controller lpc2148 universal asynchronies receive
transmit is +3v to +25 and -3v to -25v. Since the voltage
levels of both Bluetooth module and lpc2148 are same we
don’t need any voltage level converter like max232. We can
directly connect output of the Bluetooth module to the
LPC2148.We are displaying the current command status on
LCD which is fixed on the robot in further case. It can say the
connection status on display. LCD is display which is used to
see state of robot manse like which command we issued and
which operation our robot performing.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 3 – Oct 2014
II.
DESCRIPTION
LPC2148:
Lpc2148 is micro controller of NXP series. This
micro controller is based on arm 7 processer. LPC2148 is a
real time micro controller which is developed with the help of
the ARM 7 microprocessor which is designed by Philips.
While we are using LPC2148 the hard ware is significantly
reduced when compared to the other boards.
A.Important specifications of LPC2148:
 Flash memory of LPC2148 is 512kb.
 14 channels of 12 bit analogue to digital converter.
 Two UART communication ports
 Two I2C communication channels
 Two SPI communication channels
 LPC2148 is an 32 bit micro controller
 LPC2148 is an RISC architecture
 Operating voltage of LPC2148 is +3.3v.
 Voltage levels of I/O pins are TTL voltage levels.
B.Bluetooth module:
The name itself says that it works on Bluetooth
communication. The frequency range of Bluetooth is 2.4 GHz
to 2.48GHz. The range of Bluetooth signal is up to 35 feet for
general applications. To communicate with Bluetooth mobile
phones we must need Bluetooth module. The output of the
module is UART communication.
In
Bluetooth
communication we need to establish a communication link
between two modules such as mobile phone and Bluetooth
module or Bluetooth module and another module. Once the
communication is established then the module can’t be
interfered with surrounded Bluetooth modules and our data is
secured with the Bluetooth module.
C.Motor driver (L293D):
Since the output current through micro controller is
very low when compared to the requirement current for the
motors. The require power is 1 Amp and output current of
micro controller is in milliamps. Therefore micro controller
can’t drive motors directly. Here we need a driver which is
used between the motor and controller. The motor driver is
called as L293D. It has four channels. Every motor requires
two channels to control in both directions. Therefore we need
one L293D for controlling of wheel motors and other one is
for the controlling the motors of robot arm. It can switch the
output voltage up to 36v from 4.5v.
D. Gear motors:
The normal DC motors don’t have gares it increases in
significant increase of Rotations per Minute but at the same
time it reduces in torque of the motor. So for the requirement
of high torque motors we need to go for the gear motors. In
gare motors it reduces the significant amount of RPM and
result in increase of torque. As lower the RPM higher the
torque. We need high torque motors to move the robot and
pick heavy weights.
ISSN: 2231-5381
Working of gear systems:
E.Wireless camera:
Wireless camera mostly consists of two parts one is
camera part or transmitter part and other is receiver part. At
transmitter part camera is connected to the robot and it is
powered by 9v battery. At receiver end it connected to the
system using USB port. It is very easy to use and very
convenient for real time applications.
III.
PRINCIPLE OF DEVICE
Our project consists of two sections which are robot
section and remote section.
Remote section:
Android
mobile
phone
Remote section is nothing but android mobile phone with
software installed. Since android mobile phones have inbuilt
Bluetooth. If we wanted to operated our pick and place robot
we just need to connect another Bluetooth module to the PC
which we wanted to operate. We have to install the wireless
camera drivers in PC we wanted to control our robot.
Receiver section:
LCD
Bluetooth
Module
Micro
controller
LPC2148
Motor
drivers
Motors for
wheels
Motor
drivers
Motors for
robot arm
Fig 2. Block diagram of reciver section
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International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 3 – Oct 2014
Receiver section consists of one bluetooth module,
one LPC2148 pcb, one lcd, four motors in which two for robot
wheel and other two for robot arm.Lcd is to desplay the
command given to reciver section from remote section.
Bluetooth module is for reciving the commands from remote
section. Motor drivers are used to power up the
motors.Bluetooth module which is connected to the
robot receives the commands which are sent by
android mobile phone and transmits them to micro
controller. The baud rate of Bluetooth module is
9600 bits/sec. After receiving command from
module micro controller campersthe received
command with the predefined commands and
executes the predefined operation.
direction it moves the robot or else command is regarding of
robot arm it moves arm according to the command. If
command is not there in the command list then it displays
error command on LCD display.Every command and its
corresponding operation will be displayed on LCD.After
completion all the steps the micro controller waits for another
command to execute. After receiving command from remote it
execute from first step and process continues.
V.
CONCLUSION
Our project is very useful in industrial applications
like assembling the parts. Our project mostly useful for
defence operations like bomb diffusion. Even though bomb is
detected it is not easy to defuse by staying nearby. Our project
is very useful in such that it can defuse the bomb by staying at
safe distance.
VI.
RESULT
When we switch on the robot Bluetooth connection is
successfully established. After switch on the wireless camera
video output is clearly displayed on monitor of PC. Robot is
moved as per the commands send by the android phone.
Robot is moved as we commanded and picked the object and
placed at the safe place where we needed to be placed.
Fig 3.Schematic picture of the pick and place robot
Since we are having a wireless camera which is
situated at front side of the Pick and place robot. With the help
of the camera we can easily identify the operation we have to
perform next even when the robot out of sight. We have to
connect the camera and battery at front side of the robot and
receiver to the pc. The output of the video can be displayed in
the computer.
VII.
[1]
[2]
[3]
IV.
DETECTION ALGORITHM
[4]
At first we switch on the android phone and open the
Bluetooth app. After opening the app we switch on the robot
section. Then robot sends commands to android phone to
establish the connection between the android phone and
Bluetooth module.After establishing the connection between
the mobile phone and robot our robot waits for the commands
from the mobile phone.Once command received from mobile
phone it checks command with predefined commands execute
thecorresponding operation.If command is regarding to
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[5]
[6]
[7]
[8]
[9]
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International Journal of Engineering Trends and Technology (IJETT) – Volume 16 Number 3 – Oct 2014
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VIII.
AUTHOR DETAILS
Ranjith Kumar GoudV,pursuing
M.Tech (ES) from Visvesvaraya
College of Engineering and
Technology
(VCET),M.P.Patelguda,Ibrahimpat
nam, RangaReddy, Telangana,
INDIA
B.Santhosh Kumar,working as
Assistant Professor& HOD (ECE
Department) from Visvesvaraya
College of Engineering and
Technology
(VCET),M.P.Patelguda,Ibrahimpat
nam, RangaReddy. He obtained
Ph.D in Wireless Communications
.He has morethan nine years of
Experience in Teaching Field.
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