Araştırma Makalesi
BibTex RIS Kaynak Göster

Design and Application of Plc Controlled Robotic Arm Choosing Objects According to Their Color

Yıl 2020, Cilt: 16 Sayı: 2, 52 - 62, 30.12.2020

Öz

Abstract: In this study, design and application of electro-pneumatic controlled color selector robot arm was performed. S7 1200 PLC, stepper motor and drives, screw shaft, conveyor belt, selenoid valves, vacuum apparatus and color sensors were used for this purpose. Red and green colored balls moving on belt are carried by worm shaft controlled by stepper motor and classified into separate boxes according to their color. Down, up, forward and backward movements of robot arm that we designed is provided with pneumatic drive, rotating around itself and axis back and forth movement is provided by stepper motor drive. The difference of this study from previous studies is that working area of the robot arm was extended by using a ball screw shaft while robot arm having cylindrical working area is generally used in other studies. For control of Pneumatic driven robot arm, which is an industrial and stable control device. Movable pneumatic system was used in robotic arm design for transportation. Aluminum profile was used to light the robot arm. Designed robot arm is capable of carrying objects up to 0.8 kg. Tiaportal V.2.1 program was used to program the PLC and Axis v1.0 version was used for axis control.

Kaynakça

  • [1] Liu, S., & Bobrow, J. E. (1988). An analysis of a pneumatic servo system and its application to a computer-controlled robot. Journal of Dynamic Systems, Measurement, and Control, 110(3), 228-235.
  • [2] Khayati, K., Bigras, P., & Dessaint, L. A. (2009). LuGre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via LMI optimization. Mechatronics, 19(4), 535-547.
  • [3] Acarman, T., Hatipoglu, C., & Ozguner, U. (2001, June). A robust nonlinear controller design for a pneumatic actuator. In Proceedings of the 2001 American Control Conference.(Cat. No. 01CH37148) (Vol. 6, pp. 4490-4495). IEEE.
  • [4] Brahmani K., Roy K.S, (2013). Arm 7 Based Robotic Arm Control by Electronic Gesture Recognition 2013, 4, 1245–1248.
  • [5] Aliff M, Dohta S, (2015). Trajectory Control of Robot Arm using Flexible Pneumatic Cylinders and Embedded Controller 2015, 1120–1125.
  • [6] Chen S, Xie Y, (2009). Self-positioning via machine vision for web-based teleportation of pneumatic manipulator. 2009 International Workshop on Intelligent Systems and Applications ISA 2009; 1–4.
  • [7] Wang S, (2016). A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms, 6 (August 2014) 2016; 1–7.
  • [8] Yuan, R., Sun, C., Ba, S., & Zhang, Z. (2010, October). Analysis of position servo system of pneumatic manipulator based on RBF neural network PID control. In 2010 International Conference on Web Information Systems and Mining (Vol. 2, pp. 221-226). IEEE.
  • [9] Brahmani, K., Roy, K. S., & Ali, M. (2013). Arm 7 Based Robotic Arm Control by Electronic Gesture Recognition Unit Using Mems. International Journal of Engineering Trends and Technology, 4(4), 50-63.
  • [10] Elfasakhany, A., Yanez, E., Baylon, K., & Salgado, R. (2011). Design and development of a competitive low-cost robot arm with four degrees of freedom. Modern Mechanical Engineering, 1(02), 47-55.
  • [11] Aliff, M., Dohta, S., & Akagi, T. (2015, July). Trajectory control of robot arm using flexible pneumatic cylinders and embedded controller. In 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1120-1125). IEEE.
  • [12] Palok, B., & Shanmugam, S. A. (2016). Design and Development of a 3 axes Pneumatic Robotic Arm. International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, 5, 1-8.
  • [13] Ghadge, K., More, S., Gaikwad, P., & Chillal, S. (2018). Robotic arm for pick and place application. International Journal of Mechanical Engineering and Technology, 9(1), 125-133.
  • [14] Case Studies and Profitability of Robot Investment, The IFR Statistical Department, 2008.
  • [15] Elfasakhany, A., Yanez, E., Baylon, K., & Salgado, R. (2011). Design and development of a competitive low-cost robot arm with four degrees of freedom. Modern Mechanical Engineering, 1(02), 47-55
  • [16] Maha M. Lashin, (2014). Different Applications of Programmable Logic Controller (PLC). International Journal of Computer Science, Engineering and Information Technology (IJCSEIT), 4(1), 27-32.
  • [17] Dorjee, R. G. (2014). PLC and Fuzzy Logic Control of a Variable Frequency Drive. International Journal of Engineering Trends and Technology (IJETT), 16(4), 2231-5381.
  • [18] Pawar, R., & Bhasme, N. R. (2016). Application of PLC’s for Automation of Processes in Industries. Int. Journal of Engineering Research and Applications, 6(6), 53-59.
  • [19] ISO 8973. (1994). Manipulating Industrial Robots – Vocabulary.
Yıl 2020, Cilt: 16 Sayı: 2, 52 - 62, 30.12.2020

Öz

Kaynakça

  • [1] Liu, S., & Bobrow, J. E. (1988). An analysis of a pneumatic servo system and its application to a computer-controlled robot. Journal of Dynamic Systems, Measurement, and Control, 110(3), 228-235.
  • [2] Khayati, K., Bigras, P., & Dessaint, L. A. (2009). LuGre model-based friction compensation and positioning control for a pneumatic actuator using multi-objective output-feedback control via LMI optimization. Mechatronics, 19(4), 535-547.
  • [3] Acarman, T., Hatipoglu, C., & Ozguner, U. (2001, June). A robust nonlinear controller design for a pneumatic actuator. In Proceedings of the 2001 American Control Conference.(Cat. No. 01CH37148) (Vol. 6, pp. 4490-4495). IEEE.
  • [4] Brahmani K., Roy K.S, (2013). Arm 7 Based Robotic Arm Control by Electronic Gesture Recognition 2013, 4, 1245–1248.
  • [5] Aliff M, Dohta S, (2015). Trajectory Control of Robot Arm using Flexible Pneumatic Cylinders and Embedded Controller 2015, 1120–1125.
  • [6] Chen S, Xie Y, (2009). Self-positioning via machine vision for web-based teleportation of pneumatic manipulator. 2009 International Workshop on Intelligent Systems and Applications ISA 2009; 1–4.
  • [7] Wang S, (2016). A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms, 6 (August 2014) 2016; 1–7.
  • [8] Yuan, R., Sun, C., Ba, S., & Zhang, Z. (2010, October). Analysis of position servo system of pneumatic manipulator based on RBF neural network PID control. In 2010 International Conference on Web Information Systems and Mining (Vol. 2, pp. 221-226). IEEE.
  • [9] Brahmani, K., Roy, K. S., & Ali, M. (2013). Arm 7 Based Robotic Arm Control by Electronic Gesture Recognition Unit Using Mems. International Journal of Engineering Trends and Technology, 4(4), 50-63.
  • [10] Elfasakhany, A., Yanez, E., Baylon, K., & Salgado, R. (2011). Design and development of a competitive low-cost robot arm with four degrees of freedom. Modern Mechanical Engineering, 1(02), 47-55.
  • [11] Aliff, M., Dohta, S., & Akagi, T. (2015, July). Trajectory control of robot arm using flexible pneumatic cylinders and embedded controller. In 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1120-1125). IEEE.
  • [12] Palok, B., & Shanmugam, S. A. (2016). Design and Development of a 3 axes Pneumatic Robotic Arm. International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, 5, 1-8.
  • [13] Ghadge, K., More, S., Gaikwad, P., & Chillal, S. (2018). Robotic arm for pick and place application. International Journal of Mechanical Engineering and Technology, 9(1), 125-133.
  • [14] Case Studies and Profitability of Robot Investment, The IFR Statistical Department, 2008.
  • [15] Elfasakhany, A., Yanez, E., Baylon, K., & Salgado, R. (2011). Design and development of a competitive low-cost robot arm with four degrees of freedom. Modern Mechanical Engineering, 1(02), 47-55
  • [16] Maha M. Lashin, (2014). Different Applications of Programmable Logic Controller (PLC). International Journal of Computer Science, Engineering and Information Technology (IJCSEIT), 4(1), 27-32.
  • [17] Dorjee, R. G. (2014). PLC and Fuzzy Logic Control of a Variable Frequency Drive. International Journal of Engineering Trends and Technology (IJETT), 16(4), 2231-5381.
  • [18] Pawar, R., & Bhasme, N. R. (2016). Application of PLC’s for Automation of Processes in Industries. Int. Journal of Engineering Research and Applications, 6(6), 53-59.
  • [19] ISO 8973. (1994). Manipulating Industrial Robots – Vocabulary.
Toplam 19 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Mühendislik
Bölüm Makaleler
Yazarlar

Hasan Şahin 0000-0002-8915-000X

Rüştü Güntürkün 0000-0002-6755-7941

Osman Hız Bu kişi benim 0000-0002-7089-8595

Yayımlanma Tarihi 30 Aralık 2020
Gönderilme Tarihi 2 Eylül 2020
Yayımlandığı Sayı Yıl 2020 Cilt: 16 Sayı: 2

Kaynak Göster

APA Şahin, H., Güntürkün, R., & Hız, O. (2020). Design and Application of Plc Controlled Robotic Arm Choosing Objects According to Their Color. Electronic Letters on Science and Engineering, 16(2), 52-62.