Research Paper
Volume 2
Issue 4
December 2014
International Journal of Informative & Futuristic Research
ISSN (Online): 2347-1697
Android Based Pick And Place Robot
Paper ID
IJIFR/ V2/ E4/ 011
Key Words
Page No.
859-867
Subject Area
Electronics and
Telecommunication
Engineering
Android, Robot, Microcontroller, LCD, DC Motor
Butkar Vinayak D.
Devikar Sandip R
Jaybhaye Vikas B.
Prof. Shilpa Patharwalkar
M.Tech. , Scholar,
Department Of Electronics and Telecommunication,
Parvatibai Genba Moze College of Engineering
Wagholi, Pune
M.Tech. , Scholar,
Department Of Electronics and Telecommunication,
Parvatibai Genba Moze College of Engineering
Wagholi, Pune
M.Tech. , Scholar,
Department Of Electronics and Telecommunication,
Parvatibai Genba Moze College of Engineering
Wagholi, Pune
Professor
Department Of Electronics and Telecommunication,
Parvatibai Genba Moze College of Engineering
Wagholi, Pune
Abstract
The project is designed to develop a pick n place robotic vehicle with a soft catching
gripper. For example, it can safely handle a bomb very carefully to avoid explosion
while catching. The robotic vehicle is android application controlled for remote
operation. At the transmitting end using android application device, commands are
sent to the receiver to control the movement of the robot either to move forward,
backward and left or right etc. At the receiving end four motors are interfaced to
the microcontroller where two for them are used for arm and gripper movement of
the robot while the other two are for the body movement. The android application
device transmitter acts as a remote control that has the advantage of adequate
range, while the receiver end Bluetooth device is fed to the microcontroller to drive
DC motors via motor driver IC for necessary work. Remote operation is achieved
by any smart-phone/Tablet etc., with Android OS; upon a GUI (Graphical User
Interface) based touch screen operation. The main advantage of this robot is its soft
catching arm that is designed to avoid extra pressure on the suspected object for
safety reasons.
www.ijifr.com
Copyright © IJIFR 2014
859
ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
1. Introduction
The Android Mobile Phone Platform by Google becomes more and more popular among software
developers, because of its powerful capabilities and open architecture. As it is based on the java
programming language, its ideal lecture content of specialized computer science courses or applicable
to student projects. We think it is a great platform for a robotic system control, as it provides plenty of
resources and already integrates a lot of sensor. The java language makes the system very attractive to
apply state-of-the-art software engineering techniques.
1.1 Pick And Place Robot
Figure 1.1: Industrial Pick & Place Robot
Robots can be classified into different categories depending on their function and the market needs
they are designed for. Here we identify two major classes of robots, industrial robots and service
robots. According to the Robotic Industries Association, an industrial robot is an automatically
controlled, reprogrammable, multipurpose manipulator programmable in three or more axes which
may be either fixed in place or mobile for use in industrial automation applications. The first
industrial robot, manufactured by Unimate, was installed by General Motors in 1961.
1.2 Discovery Of Android
Android, Inc. was founded in Palo Alto, California, United States in October, 2003 by Andy
Rubin (co-founder of Danger) Rich Miner (co-founder of Wildfire Communications, Inc.) Nick Sears
(once VP at T-Mobile) and Chris White (headed design and interface development at WebTV) to
develop, in Rubin's words "...smarter mobile devices that are more aware of its owner's location and
preferences" Despite the obvious past accomplishments of the founders and early employees, Android
Inc. operated secretly, revealing only that it was working on software for mobile phones.
Google acquired Android Inc. in August 2005, making Android Inc. a wholly owned
subsidiary of Google Inc. Key employees of Android Inc., including Andy Rubin, Rich Miner and
Chris White, stayed at the company after the acquisition. Not much was known about Android Inc. at
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
860
ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
the time of the acquisition, but many assumed that Google was planning to enter the mobile phone
market with this move.
1.3 Why Build Androids?
The most important reason is to help us humans enjoy life and to relieve us of many of the
mundane tasks which we all face every day. Humans have been designing tools and other devices to
be used by other humans for millennia. While you could design and build a robot to do any specific
task better and faster than a human, if you build a robot which has the same we have designed in the
same manner we would. Thus, the androids will be able to take over for us and perform those
mundane tasks for us - but, only if they have our shape and capabilities.
Figure 1.2 : Android Symbol
1.4 Why Pick & Place Robots
We have selected the pick and place robots for this particular process due to the following reasons:a. Using of human labor for the loading and unloading of the batteries and also for packing
purpose will consume more time.
b. Even though Number of labourers is required more, the loading and unloading time should
include allowances if labourers are considered.
c. Moreover the work can be done easily using a single pick and place robot, which is used for
both loading and unloading and pelleting purpose.
2 System Requirements:
A. Microcontrollers
For our application we are required to interface the LCD, Bluetooth and motors to the microcontroller.
Also the program memory of upto 128kb is required. Hence here we are going to use the 8 bit
microcontrollers. The available 8 bit microcontrollers are
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
861
ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
Table 2.1 : Microcontroller comparison
A. PIC
16C5X/XX
Clock speed 40MHZ, 512 to 2K bytes ROM, 25 to 73 bytes of RAM, 8-bit
real-time counter, programmable sleep mode and watchdog timer,
B. Motorola
0-768B of RAM, clock speed upto 3MHz,8 bit ADC for real time
monitoring ADC signals.
C. 68HC11
D. INTEl
E. 8051
microchip
ATMEGA16
ROM 0 to 8KB,128 – 256 B of RAM, clock seeds upto 12MHz,32 bit
bidirectional I/O lines
256 bytes of EEPROM,2 Comparators, 8 channels of 10-bit ADC, 2
capture/compare/PWM functions, a synchronous serial port that can be
configured as either 3-wire SPI or 2-wire I2C bus, a USART, and a Parallel
Slave Port. operating voltage 4.0V to 5.5V
Here we are going to use the microcontroller microchip ATMEGA16 it is suitable for our project as
its having the in built ADC and comparators which are necessary in our project.
B. Bluetooth
We are going to use the Bluetooth version 2.0 Module. The models available in the market and their
features are as follows:
Table 2.2 : Bluetooth modules
F. PAN1555
AUBTM-20
UART (Programmable baud Rate), USB, I2C, SPI and ADC
Bluetooth data rate up to 2178kbps Asymmetric
Bluetooth core V2.0 compliant
SPP support, Support UART, USB, PCM, I2C interface to host system,power
supply 3.5V
AUBTM-20 is available in the market and is suitable for our project hence we are going to
use the AUBTM-20 Bluetooth module.
C. LCD MODULE
There are various types of LCD modules available in the market
Table 2.3 : LCD Module
Standard 2x16 and 4x20 character LCD Displays,
16*2 LCD module(green
Power supply 5V. compliance with Hitachi HD77840
backlight)
Standard 2x16 and 4x20 character LCD Displays,
16*2 LCD module(white
Power supply 5V. compliance with Hitachi HD77840
backlight)
We are going to use 8 bit 16*2 LCD Module with green light as it is easily available in the market.
D. MOTORS
For our application we are going to use the DC motors. As they are having the high torque so these
are the choice for the picking application.
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
862
ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
Stepper motors are having slower response than the dc motors so for the faster cycle rate we
are going to use the DC motors. AC motors make the system more bulky hence we are not
concentrating on them.
Table 2.4 : Motors
DC
motor(300
rpm)
300 rpm, DC supply: 4 to 12V
RPM: 300 at 12V and RPM 121 at 5V,
Torque-(1.1806kg/cm at 5V and 2.773kg/cm at 12V) Motor weight: 105gms
3 Robotic Hardware
Functional block diagram of robotic hardware is as shown in fig. this fig two sections are available
one section is controlling the robot and other section performing all interfacing with controller.
Figure 3.1: Functional Block Diagram
Overview Of Block diagram
As the name indicate this project deals with the controlling of robot using cell phone. The
project contain 2 sections
1. Robot (Receiver end)
2. Control section (Transmitting end)
The control section will be an Android cell phone which is having Bluetooth facility. The data to
control the robot will be transmitted through the cell phone Bluetooth
There will be a Bluetooth module at the receiver end also. Both the Bluetooth should be
paired each other. As soon as the data sent from the Bluetooth module at the transmitting end, it will
receive at the receiver end. The microcontrollers compares the incoming data with the pre stored data
and do the corresponding actions.
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
863
ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
4 Circuit Diagram
The circuit diagram of interfacing with various component are as shown in figure
Figure 4.1: Circuit Diagram
4.1 Motor Driver (L298N)
The current supplied by the PIC is not sufficient to drive the motors and thus, we have to use a motor
driver for driving the motors. Here we are using L298N which is a Quadruple Half-H Driver.
The L283N is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V
to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar
stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. All
inputs are TTL compatible.
Specifications:
1. Driver can drive two motors at a time.
2. It outputs a current of 600mA
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
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ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
There are two inputs and two output pins for each motor. The connection for each is as follows:
Figure 4.2 : L298D Dual DC motor controller
The behavior of motor for various input conditions are as follows:
4.2 Power Supply
The basic step in the designing of any system is to design the power supply required for that
system. The steps involved in the designing of the power supply are as follows,
1) Determine the total current that the system sinks from the supply.
2) Determine the voltage rating required for the different components.
Figure 4.3 : Power supply
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
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ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
4.3 Algorithm
Step 1.
Step 2.
Step 3.
Step 4.
Step 5.
Step 6.
Step 7.
Configure watch dog timer
Define micros for program
Set or define the input output port
Set the baud rate 9600 & transmission pins enable
Initialized the LCD & send string or character
Read all parameter & compare with reference value
Satisfied the condition & then go to display
5 Advantage And Disadvantage
ADVANTAGES:
1. Our robot can handle dangerous chemicals in chemical lab or in nuclear reactor labs which
are hazardous to human body.
2. Having a android control facility this robot can perform many tasks that human cannot or
dangerous for human to handle.
3. With some modifications this robot can be used for helping the physically challenged people.
DISADVANTAGES:
1. The range of the Bluetooth, which is only near about 10 meter.
2. It is only controlled by using Android phone.
6 Result
Butkar Vinayak D. , Devikar Sandip R , Jaybhaye Vikas B. , Prof. Shilpa
Patharwalkar :
Android Based Pick And Place Robot
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ISSN (Online): 2347-1697
International Journal of Informative & Futuristic Research (IJIFR)
Volume - 2, Issue - 4, December 2014
16th Edition, Page No: 859-867
7 Future Scope And Conclusion
Future Scope
There are many unsolved problems and fundamental challenges for robotics. At a very high level.
Manipulation and physical interaction with the real world: We need concerted modeling and control
efforts together with the development of good hardware to make arms and hands that can perform
anything but the simplest of pick-and-place operations that are prevalent in industry.
The pick and place robot is having the very vast area of applications.
As we are using android based control the applications broadens to both the domestic and industrial
use.
The future scope applications of this project are,
1. Bomb diffusion:
After few modifications of the pick and place mechanism we can improve the robot for the bomb
diffusion purpose. Using the web cam we can train the robot to diffuse the bomb hence without
putting human life in danger we can fight against the terrorism
2. Lab:
Our robot can handle dangerous chemicals in chemical lab our in nuclear reactor labs which are
hazardous to human body.
3. Having a android control facility and webcam this robot can perform many tasks that human cannot
or dangerous for human to handle.
4. With some modifications this robot can be used for helping the physically challenged people.
Conclusion
In the whole procedure of our project work completion we have successfully build android
based robot with pick and place robot application. For the completion we have used various
application software such as android SDK, Eclipse, PCB WIZARD. The final output of the system is
robot control with the android application.
References
[1] Robotic Enginnering by Richard D Klafter, Thomas A chmielewski, Michael Negin
[2] Atmel AVR Microcontroller Primer: Programming and InterfacingBy:- Steven F.Barret, Daniel J. Pack
[3] C. W. Edwall, C. Y. Ho, and H. J. Pottinger, “Trajectory generation and
control of a robot arm using splines functions,”
[4] RK Mittal and IJ Nagarath “Robotics and Control” BITS Pilani, 2003
[5] RatheeshRajan “Foundation Studies for an Alternate Approach to Motion Planning of Dynamic
Systems” M.S.E., the University of Texas at Austin, 2001
[6] Richard E. Pattis. Karel the Robot: A Gentle Introduction to the Art of Programming. John Wiley &
Sons, 1981. ISBN 0-471-59725-2.
[7] The Math Works Inc. MATLAB 7.0 (R14SP2). The Math Works Inc., 2005.
[8] Nam Sun Wang, Department of Chemical & Bimolecular Engineering, University of Maryland
Websites
1. http://developer.android.com
2. http://android.com
3. http://en.wikipedia.org
4. Shop.evergreengroups.co.in
5. www.nex-robotics.com
6. www.rscomponents.co.in
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Android Based Pick And Place Robot
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