Design and Construction of a GSM-Controlled Pick and Place Robot

ABSTRACT

The modern manufacturing environment is dynamic and uncertain. In line with the global

trend in manufacturing, this project is carried out to explore into the potentials of robots in

manufacturing, service industry, and domestic use. The robot was designed and constructed to incorporate the use of mobile phones as control mechanism via dual-tonemultiple frequency (DTMF). Various components such as the Gripper, Gears, Chains, and Control system were designed with good factor of safety; with factors such as vibration, inertia concerns, availability, and reliability taken into consideration. MATLAB software was used extensively in the design, simulation and testing. The Root-locus, Disturbance response, and Polar plots of the control system transfer function were plotted using

MATLAB. The results obtained showed good performance characteristics; such as

 of the control system, good damping characteristics, and excellent time response to step and impulse inputs.

Keywords: Design; construction; GSM-controlled; pick and place; robot.

NOMENCLATURES

= Number of teeth of the driving gear

= Number of teeth of the driven gear

= Rotational speed of the driving gear (rpm)

= Rotational speed of the driven gear (rpm)

= Length of chain (cm)

= No of teeth of the driving sprocket (teeth)

= No of teeth of the driven sprocket (teeth)

= Pitch of chain (cm)

= Centre-centre distance of chain (cm)

= Rotor Inertia (Nms2/rad)

  = Internal friction in motor (kg/ms)

! = Armature inductance (mH)

"# = Motor constant (Nm/A)

! = Armature resistance ()

"$ = Back EMF constant (Vs/rad)

%# = Maximum power (W)

" = Gain

& = Transfer function

'( = Angular frequency of internal vibration of the control system (rad/s)

) = Damping ratio

* = Disturbance signal

+(,) = Steady-state error

"- = Feedback transfer function

'. = Angular speed generated by the load disturbance (rad/s)