International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072

Android Based Pick and Place Robot Vehicle for Industries

P. Chinna Rao1, K. Yaswanth Kumar2, B. Chandu Babu3, J.V.S. Sasidhar4,
Mrs. M. Harika Chowdary5
1Student, Dept. of Mechanical Engineering, Kakinada, Andhra Pradesh
2Student, Dept. of Mechanical Engineering, Vinukonda, Andhra Pradesh
3Student, Dept. of Mechanical Engineering, Rajahmundry, Andhra Pradesh
4Student, Dept. of Mechanical Engineering, Narsipatnam, Andhra Pradesh
5Assistant Professor, Dept. of Mechanical Engineering, Godavari Institute of Engineering and Technology,

Andhra Pradesh, India

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Abstract - Robotics researchers regularly endow robot consists of two rigid bodies on a moving base, connected
platforms with new capabilities that increase the breadth of with a rotary joint. A rotary joint is the one that provides
potential applications and push the boundaries of autonomy. rotation in 360 degrees around any one of the axes.
In contrast, industrial automation is driven by a pragmatism
dictated by the need to optimize throughput and reliability. In this project, we have designed a 3 Degree Freedom
The hope of both is that, as multi-purpose robotic platforms Industrial ARM. These types of Industrial ARM are mostly
become more capable, they will be able to take over an used in Automobile Industries, Automatic Welding,
increasing fraction of the tasks currently handled by Packaging Industries, and Painting Industries. Movement of
application-specific, fixed installation automation, thereby this ARM includes Sideways (Left / Right, Up / Down), and
granting all applications a greater level. This project is Gripper Control (Open / Close). ATmega16 Microcontroller
designed to develop an Industrial Robotic Arm. Typical is used as a Brain of this Industrial ARM. An Android
applications of Industrial ARM include welding, painting, Application is used to control the ARM for various
assembly, pick and place (such as packaging, palletizing and movements. We can control this ARM using Mobile Phones /
SMT), product inspection, and testing; all accomplished with Tablets that has Android Operating System. We also use
high endurance, speed, and precision. Bluetooth technology to communicate with Mobile phones
and the ARM. This Android Application is developed using
This Industrial Robotic ARM has 3 Degree of Freedom and the MIT App inventor online web platform. The android
end of ARM has a Gripper Mechanism, which is used to Pick application device transmitter acts as a remote control that
and Place any Object. Geared Motors are used in this ARM has the advantage of adequate range, while the receiver acts
Mechanism of 3.5 RPM and 10 RPM. L293D Motor Driver is as an end Bluetooth device is fed to the microcontroller to
used to control the Motor of the ARM. This Robotic ARM can drive DC motors via motor driver IC for necessary work.
move in forward, backward, left and right Direction. It has a
user-friendly interface on its control using an Android The user first connects the Android Application with the
Application. This Android Application can be installed in any ARM. After the successful connection a message called
Mobile Phone to get control over this Industrial Arm. "Bluetooth Connected" will be displayed in the LCD module
of the ARM. Once the Bluetooth is connected, the indicator
1. INTRODUCTION light on the Bluetooth module will turn off. Now users can
access the ARM using the controls (UP/ DOWN /LEFT
/RIGHT/OPEN/CLOSE). Robotic Vehicles can move-in
A pick and place robot vehicle are used to pick up an object
forward, backward, Left and right directions. To Disconnect
and place it in the desired location. It can be a cylindrical
the Application from the device, the user has to press
robot that provides the movement in horizontal, vertical and
"Disconnect".
rotational axes or a spherical robot providing two rotational
and one linear movement.
This entire system is powered using a 12V/4.5Ah battery.
The power supply and Charging section of the system
The basic operation of a pick and place robot vehicle is
contains a step-down transformer of 230/12V, used to step
performed by its joints. Joints are homologous to human
down the voltage to 12VAC. To convert it to DC, a bridge
joints and are used to join the two consecutive rigid bodies
rectifier or diode is used. The capacitive filter is used which
in the robot. There can be either a rotary joint or a linear
makes use of a 7805 voltage regulator to regulate it to +5V
joint. To add a joint to any link of a robot, we need to know
DC power will be needed for the microcontroller, LCD
about the degrees of freedom and the degrees of movement
display, and Bluetooth module to operate, to remove ripple.
for the corresponding body part. The Degrees of freedom
The capacitive filter is used which makes use of a 7812
implements the linear and rotational movement of the body
voltage regulator to regulate it to +12V DC power will be
whereas the Degrees of movement imply the number of axes
needed for the DC motors.
that the body can move. A simple pick and place robot

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072

2. BLOCK DIAGRAM

16x2 LCD Module

ANDROID
ATmega16
DEVICE MOTOR MOTOR 1
MICRO
DRIVER
CONTROLL MOTOR 2
ER
MOTOR
BLUE DRIVER MOTOR 3
TOOTH
MODULE
MOTOR MOTOR 4
DRIVER
MOTOR 5

12-0-12
RECTIFIER VOLTAGE
TRANSFORMER
REGULATOR

Fig. ATMega16 Pin Configuration

CHARGING 12V / 4.5 AH
CIRCUIT BATTERY

Fig. Block Diagram for pick and place robot vehicle

3. MAJOR COMPONENTS USED

3.1 ATmega16 Microcontroller

Atmega16 Microcontroller has very high performance and

low power consumption rate in an 8-bit single-chip
Microcontroller. It is based on reduced instruction set
computing which helps in fast response within less time. It
consists of 131 pre-determined instructions that help to
activate the robot and most of these instructions are used in
one single machine cycle. It works maximum frequency of 16
MHZ and 16 kb programmable flash memory and its working
ROM is around 1Kb. It contains 40 pins and each has its
functions and it has four 8 bit ports that are used for fast
computing and quick response for the robots. In these pins, Fig. ATMega16 Microcontroller
it also consists of 32 input and output lines in these 40 pin
Microcontroller. The reason behind this fast response is it 3.2 DC Geared Motor
contains two user communications ports that help the input
from the user to verify the output to reduce the errors. A DC geared motor is a developed model of normal DC
motor to increase the speed so the torque of the shaft also
This type of Microcontroller is mainly used in industrial increases. A normal dc motor has a rotating shaft contained
robots and fast response generating CNC machines and with coil winded on it and magnets around it. When
automation. It is also used to in executing multiple programs electricity passed to it the shaft starts rotating due to the
which is very helpful in flexible automation. attractive and repulsive force of the magnet but in geared DC
motor, the obtained force from the normal motor is
connected to gears as to increase the speed and torque of the
motor but it has one problem that is the gears have wear and
tear problem so it cannot effort much load. It is operated in a
predetermined load but in the normal motor it has no such
defects if load increase it stops and there is no wear and tear
problem. A geared motor helps in generating large force with
low speed is the main advantage of it. A geared motor takes

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the input in between 6V and 12V where at 6V it has low RPM any of the remaining fingers) which can hold an object (pen,
and at 12V it has its maximum RPM. pencil) this holding of an object helps in many industries to
do the work like spraying, welding, pick and place, etc.
An End Effector is an object attached to the robot arm to
complete the given task. End Effector may be grippers,
sensors, tool holders and so on to do the given task.
In some cases it acts as a tool holder and the robot must have
the ability to adjust the tool to the work part or to do the job.
An end effector must have some characteristic features they
are
 It must have the ability to hold and release the
object as per the requirements.
 It should sense the object presence in its grippers
with the help of sensors
 The end effector must be very light but it must hold
very tight.
Fig. DC Geared Motor  It should able to check the presence of components,
speed, and load when there is a power loss.
3.3 16x2 LCD Module

An LCD module is a display device that is used to display

input and output for the given data. It also helps in detecting
the errors while giving the command and cross-checking the
output. An LCD is one type of display device and the liquid
crystal display device is an electronic display device that
uses light modulated properties of liquid crystal to display
the function given to it. These LCD devices are used in
various applications like instrument panels, television,
aircraft cockpit displays, clocks, watches, telephones,
calculators, and so on but the purpose is to display the
functions given to it. The use of LCD is due to its low power
consumption, fast response and accurate display as per the
given program and cheap. An LCD device consists of 16 pins
used in data transfer, power supply, register data and
ground connections. Fig. End Effector

3.5 BLUETOOTH MODULE

A Bluetooth module is an electronic circuit board that

contains all Bluetooth functions that help in wireless data
transmission. There are so many types of Bluetooth modules
for fast data transmission, serial communications, parallel
communication, and many others that are used according to
its purpose and type of data transmission requirement. In
this project, we had used HC-05 Bluetooth module which
helps in serial communication. It means sending the data one
bit at a time, it is a slow process but for a robot, at times it
Fig. 16x2 LCD Module
can do the single operation so it requires serial
communications. But we use parallel communications, it can
3.4 End Effectors send two or more data bits transmission at a time but there
is a chance of sending wrong instructions and robot
End Effector is known as the end of arm tooling or gripper. operations/job may fail. To reduce this type of errors we had
There are many different types of end effectors are there but used HC-05 Bluetooth module. This Bluetooth module
based on there working they are classified. They are consists of the serial port protocol which helps for
grippers, tools, universal finger type end effectors. The transparent wireless transmission and serial
mostly used end effector is gripper and they contain communications with an understandable user interface.
different types. They are of mechanical, magnetic, vacuum,
and adhesives. End Effectors are like two fingers (thumb and

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Fig. Transformer

4. Working principle

The working of the robot is mainly dependent on its arms

Fig. Bluetooth Module control, joints, end effectors, and sensors. In this robot we
had designed a three degree of freedom with simple in
3.6 TRANSFORMER construction. Joints place the main functions in industrial
and pick and place robot. The Degrees of freedom means
A transformer is an electrical device that works on the how many linear and rotational movements can a robot
principle of mutual induction. A transformer helps in takes place is called as degrees of freedom. In this robot it
transferring electrical energy from one circuit to another consists of two axes movable joints and a revolute joint
circuit by electromagnetic induction. They are of two types. involves in the bottom of the robot.
They are
A pick and place robot simply consists of two fixed bodies
 Step-up transformer which helps to increase the placed on a moving base which is connected with a rotating
output voltage. In this primary winding has less as joint. The rotary joint provides a full 360-degree rotation
compared to the secondary winding. which helps in picking up, holding, placing the object in any
 Step down transformer which helps to decrease the direction about any axes. This type of pick and place robot is
output voltage. In this primary winding, it has more mainly used in painting, packing, welding, spraying, tool
coils than secondary winding. changing, inspecting, automotive manufacturing, and at so
many different places. The movement of the robot is done by
A transformer is a very simple device. It consists of primary using Bluetooth module android application either in
winding and secondary winding which helps in the increase android mobile or on a computer. This module consists of all
or decreases the voltage and in between the two windings, a the instructions like left, right, up and down and the gripper
magnetic core is placed which helps in creating a magnetic movement is of open and close. ATmega16 microcontroller is
field around it. This magnetic field helps in mutual induction the main processing and operating function for the robot.
and conversion of electrical energy. There are different types
of transformers for various specific electrical applications First the user must connect the arm with an android
but their principles and basic characteristics are same. They application then a message of connected successfully is
are obtained then one can operate the robot in its precise
degrees of freedom as the robot is designed. Then for
 Autotransformer disconnecting the robot arm the user just needs to press
 Capacitor voltage transformer disconnect in an android application then it is disconnected
 Distribution transformer successfully. The entire system is running by using a 12V
 Phase angle regulator transformer battery that supplies power to the entire robot. A step-down
transform and a DC rectifier are used to reduce the power
 Scott-T transformer supply and to regulate voltage for the working of a robot.

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5. CIRCUIT DIAGRAM

Fig. Pick and Place Robot Vehicle

Fig. Circuit Diagram

The above circuit diagram shows all the connections among

various components of the robot vehicle. The ATMega16
microcontroller receives the command from the Bluetooth
module and provides the digital signal to the motor driver
L293D. The motor driver L293D receives the signal from the
ATMega16 microcontroller pins and drives the motors by
using a 12V battery power source. One motor is for the
gripper, two motors are for tracking wheel drivers and the
two motors are for arm rotation and movements.

Fig. Power supply to the robot using batteries

Fig. Top view of the robot vehicle

fig. Connected components

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6. MIT APP INVENTOR 7. ADVANTAGES

MIT App Inventor is used for creating Android Apps where  This pick and place robot is portable since it is easy
we can design the app of our own choices such as the user to carry here and there.
interface and features. Like re-arranging puzzle pieces, you  It consumes less power.
can set how your app will respond to different events by  One of the main advantages is that the robot can be
simply signing into your account so that the App Inventor programmed easily due to its flexible nature.
server can save your work and help you keep track of our  Robots are ideal if you are looking to conserve floor
project. space.
 Depending on the weight and the size of a part,
It consists of two phases: moving it from one place to another can be very
 App Inventor Designer demanding work.
 App Inventor Block Editor  They are able to work without taking breaks or
making mistakes.
In-App Inventor Designer, you can select the components  Incorporating pick and place robots can effectively
for your app while in App Inventor Block Editor you can cut your costs.
assemble program blocks that specify how the components  The maintenance costs are very less and almost nil.
should behave visually, re-arranging together like pieces of a  It protects the workers from some hazardous
puzzle. After completing the above phases you may run your situations.
app directly in your Android phone. Moreover you may even
download your app and install and run it on your Android 8. FUTURE SCOPE
device directly.
In the past times, Radio Frequency (RF) was used for the
robots to operate. But it covers very less range. Hence, it is
out dated now. In our pick and place robot vehicle, we are
using a Bluetooth module for the communication of the
robot. We can operate using our mobiles without any wire
connections up to a specified range i.e around 100meters. In
the future, we can include IOT technology to expand its
range. Thus, we can operate the robot from anywhere in the
world using internet access.

9. LITERATURE REVIEW

[1] Ravikumar Mourya, Amit Shelke, Saurabh Satpuite,

Sushant Kakade, Monoj Botre have main objective of
their project are to design and implement a four
DOF pick and place robotic arm. They conclude that
the CAD tools like Creo1.0 and Auto CAD are used to
model the desire manipulator. To determine the end
effectors position and orientation, theoretical
analysis of inverse kinematics are carried out. Ansys
software is used for FE Analysis.
[2] Prof. S.N.Teli, Akshay Bhalerao, Sagar Ingole,
Mahesh Jagadale. This project aims to design and
fabricate the pneumatic arm for pick and place of
cylindrical objects. They conclude that arm is
controlled by manually flaw control and direction
control valve. Arm rotation and movement is done
by pneumatic cylinder using helical slot mechanism.
Total arm weight is 25 kg. The model is expected to
lift at least 10 kg weight.
[3] S.Premkumar, K.Surya Varman, R.Ballamurgan,
Experimental aim is to collaborate the gripper
Fig. App Interface mechanism and vacuum sucker mechanism working
in single pick and place robotic arm. These robot
can perform tasks like gripping, sucking, lifting,
placing, releasing, in a single robotic arm. It will
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reduced the cycle time, Ideal time, cost of operation, assist as many operations. These are the key features of this
space consumption. It is user friendly and robot and its main use in industries.
effectively used in glass handling system.
[4] S.C.Gutierrez, R.Zotovic, M.D.Navarra, REFERENCES
M.D.Meseguer. Their purpose of work is to
manufacture a light weight robot arm with a low  Robotics / Fu K S/ McGraw Hill.
cost budget. They conclude that to avoid negative  Design and Implementation of Pick and Place
influence on the total weight of the arm, the plastic Robotic Arm”, Ravikumar Mourya, Amit Shelke,
material reinforced with fiber is used and vacuum Saurabh Satpute.
infusion man process is used for manufacturing.
 Design and Fabrication of Pneumatic Robotic Arm”,
Local reinforced elements must be included during
Prof. S. N. Teli, Akshay Bhalerao, Sagar Ingole.
construction of arm shell. The mast light gear
 Design and Implementation of Multi Handling Pick
reducer, harmonic drive types are used but because
and Place Robotic Arm”, S. Prem kumar, K. Surya
of lack of alignment causes disassembly of gear
Varman, R. Balamurugan.
package to avoid these flexible couplings are
 Introduction to Robotics / John J Craig / Pearson
required.
Edu.
 Internet Source https://www.elprocus.com/pick-n-
10. CONCLUSIONS place-robot/
 Jong Hoon Ahnn, “The Robot control using the
In this project, we had designed a three degree of freedom wireless communication and the serial
pick and place an industrial robot which can move from one communication.” May 2007.
place to another place. This ability helps the industrial  A.S.C.S. Sastry, K.N.H. Srinivas (2010), “An
robots not only to pick up and place the objects around it but automated microcontroller based the mixing
also helps in picking the objects from one place and drop at system”, International journal on computer science
another place. This helps the industrial robots to do multiple and engineering. (Volume II, Issue 8, August 2010).
tasks. These types of robots have both fixed and flexible  B.O.Omijeh, R.Uhunmwangho, M.Ehikhamenle,
program type automation. “Design analysis of a remote controlled pick and
place robotic vehicle”, International journal of
Most of the robots only consist of two degrees of freedom Engineering Research and Development. (Volume
which are also of fixed at one point and used for a single 10, Issue 5, May 2014).
purpose. These types of robots are mainly used for batch  Ankit Gupta, Mridul Gupta, NeelakshiBajpai, Pooja
production of products in industries. Some robots contain Gupta, Prashant Singh, “Efficient Design and
three degrees of freedom which are either programmable Implementation of 4-Degree of Freedom Robotic
type, these are also fixed at one place but can do various Arm”, International Journal of Engineering and
purposes like for every product manufacturing it will have a Advanced Technology (IJEAT) ISSN: 2249 – 8958,
different manufacturing process that means its process Volume- 2, June 2013.
planning programs are different. So fixed type cannot be  A Method For Reducing The Energy Consumption Of
used for the manufacturing of multiple products but the Pick And Place Industrial Robots”, M. Pellicciari, G.
programmable type can program functions for different Berselli, F. Leali, A.Vergnano.
products.
BIOGRAPHIES
In this project it not only has the ability of programmable
type industrial robot but also it has the ability of picking of P. Chinna Rao is currently pursuing
an object from one place and placing the object at another Bachelor of Technology (B.Tech)
place and it can be used for various purposes like final year in Mechanical Engineer -
transporting the objects, checking the transport line for line ing at Godavari Institute of
followers, welding industries, spraying, and so many Engineering and Technology,
different abilities. 1’st Rajahmundry, Andhra Pradesh.

End effectors play the major role in operations because for K. Yaswanth Kumar is currently
some products cannot be picked and placed easily like pursuing Bachelor of Technology
magnetic materials, delicate materials like glass cannot be (B.Tech) final year in Mechanical
handled by same end effectors or gripper, so there are Engineering at Godavari Institute
different types of end effectors like magnetic gripper to hold of Engineering and Technology,
magnetic materials and vacuum gripper to hold delicate Rajahmundry, Andhra Pradesh.
material like glass and so many types of grippers. This robot
has the settings to change the end effectors of the robot so to

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072

B. Chandu Babu is currently

pursuing Bachelor of Technology
(B.Tech) final year in Mechanical
Engineering at Godavari Institute
of Engineering and Technology,
Rajahmundry, Andhra Pradesh.

J.V.S. Sasidhar is currently

pursuing Bachelor of Technology
(B.Tech) final year in Mechanical
Engineering at Godavari Institute
of Engineering and Technology,
Rajahmundry, Andhra Pradesh.

Mrs. M. Harika Chowdary is an

Assistant professor in Department
of Mechanical Engineering at
Godavari Institute of Engineering
and Technology, Rajahmundry,
Andhra Pradesh. She did her
M.Tech in CAD/CAM.

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