Programmable Robotic Painting Programmable Robotic Painting ArmArm

Presented by:

Chincholkar Apoorv R.

Joshi Sanket S.

Gore Rigved B.

Project Guide:

Mr.M.D.Patil

IndexIndex

Project Theme

Literature Survey

Block Diagram

System Overview

Module Testing

Work Plan

Project ThemeProject Theme

A robotic painting arm, which can paint given object.

This robotic arm can be programmed by guiding it, by user as per his needs.

Once guided properly, it stores the coordinates in EEPROM, and work accordingly afterwards.

Advantage of this robot is repeatability, time saving, ease of operation and higher degree of accuracy with minimum initial investment.

Literature SurveyLiterature Survey

Leading car manufacturing companies use advanced robotic systems for paint job.

These robots are controlled by CNC systems.

Companies like Honda, Hitachi, FANUC, Kawasaki and Motoman build painting robotic systems.

Paint material used can be powder based, oil based or water based.

Linear paint robotsLinear paint robots

Articulated paint robotsArticulated paint robots

Paint robots with carriagePaint robots with carriage

Micro Controller

ATMEGA

AVR

Position

Encoders

Painting

Tool

EEPROMMotors

Solenoid Valve

Motor

Driver

Block DiagramBlock Diagram

System OverviewSystem Overview

Two modes: ( I ) Training Mode ( II ) Repeat Mode

( I ) Training Mode: In this mode the robotic hand can be guided by a skilled

person, only for one time. All the movement is then stored in EEPROM as coordinates.

( II ) Repeat Mode: Robotic painter simply manipulate the arm according to the data stored in EEPROM.

Module TestingModule Testing

Hardware modules

Stepper Motor Driver I2C EEPROM bank

Software Modules

Stepper motor movement with pre-stored user data Starting position locator using limit switch LCD display in 4 bit mode I2C bus - EEPROM communication

Relative positioning is very precise Constant speed

Motor can be locked at any position.

Available in various size and packages

Easy to interface

Easily available

Stepper Module in roboticsStepper Module in robotics

Stepper motor module

STEPS IN STEPPER MOTOR

Full step

One coil is energized at a time.

Half step

Two coils are energized to get rotor in between step.

Micro step

Two coils are energized at different current levels.

A4

B3

C2

D1

comment

1 0 0 0 start here

1 1 0 0 half a step clockwise

0 1 0 0 complete the first full step clockwise

0 1 1 0 another half step

0 0 1 0 complete that step

0 0 1 1 another half step

0 0 0 1 complete that step

1 0 0 1 final half step

1 0 0 0 back to the starting position

HALF STEP SEQUENCE

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

HALF STEPHALF STEP

Create an instance of the stepper class, specifying the number of steps of the motor and the pins it's attached to using Stepper(steps,pin1,pin2,pin3,pin4) function.

Set the speed of the motor to required RPMs using SetSpeed(RPM).

Until the limit switch is open, keep motor rotating slowly in anti-clockwise direction using step(no. of steps) function.

On closing the limit switch start taking values from predefined array & perform the steps accordingly.

Testing method : Stepper module

EEROM is essential for storage of data files. A data file contains no. of steps to be performed for each motor as well as file name.

EEPROM used in this project is I2C bus driven EEROM IC AT24LC512 which comes in 8-pin DIP package.

Memory size available is 512Kbits which translate in to 64Kbytes of usable memory.

Up to 8 similar EEPROMs can be tied on a single 2 wire I2C bus using address arbitration.

EEPROM MODULE

EEPROM AT24C512

EEPROM MODULE TEST CIRCUIT

Assemble the circuit on breadboard. Connect a potentiometer to the ‘analog 0’ pin of arduino. Write a program to take the values from ADC, and store

then into EEPROM at the rate of 50 samples/sec. Hence, WRITE operation is performed here. Next step is to READ the stored data. The data is read,

and the output is given as analog output, in the form of PWM wave.

An LED can be connected to this pin, to see the output. This program was implemented, and tested successfully.

Testing method : EEPROM

Work PlanWork Plan

Month Proposed Work

SeptemberFinalization of design, Component selection,

stepper motor module testing 

OctoberEEPROM with I2C bus communication, Finalization of mechanical assembly 

JanuaryModule interfacing, software design, painting

head assembly

FebruarySoftware upgrading, actual testing in work

environment, error analysis 

MarchQuality and reliability testing, final

documentation