PC BASED SMALL ARM ROBOT MUHAMMAD ZULHILMI BIN MANSOR A report submitted in partial fulfillment of the requirements for the award of the degree of Bachelor of Electrical Engineering (Electronics) Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang NOVEMBER 2010
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PC BASED SMALL ARM ROBOT
MUHAMMAD ZULHILMI BIN MANSOR
A report submitted in partial fulfillment of the requirements for the award of the degree of
Bachelor of Electrical Engineering (Electronics)
Faculty of Electrical and Electronics Engineering
Universiti Malaysia Pahang
NOVEMBER 2010
“I hereby acknowledge that the scope and quality of this thesis is qualified for the award
of the Bachelor Degree of Electrical Engineering (Electronics)”
Signature : ______________________________
Name : AIRUL SHARIZLI BIN ABDULLAH
Date : 26 NOVEMBER 2010
“All the trademark and copyrights use herein are property of their respective owner.
References of information from other sources are quoted accordingly; otherwise the
information presented in this report is solely work of the author.”
Signature : ____________________________
Author : MUHAMMAD ZULHILMI BIN MANSOR
Date : 26 NOVEMBER 2010
ACKNOWLEDGEMENT
Alhamdulillah, first of all I would like to thanks a lot to Allah S.W.T for
blessing me with good health, physical and mental and time, also giving me patient and
spirit through this starting of my final year project. With mercifulness from Allah
S.W.T, therefore I can start to create a useful and brilliance idea to this project.
To my beloved parent, Mansor Bin Kembar and Ramisah Binti Awang, I am
grateful to have both of you in my life and giving support through this life. I am also
wanted to thank my supervisor, Mr. Airul Sharizli Bin Abdullah and Mr. Fairuz Reza
Bin Rashidi, the lecturer from the Faculty of Electric and Electronic that also as my
Academic Advisor, for his advice, comment and generous support. Thanks for your
guidance and without your guidance this project cannot be started and will not well
organized.
Not forget, to all my friends, especially to my Bachelor of Electrical
(Electronics) BEE, especially Mohd Amirul Aiman, Khairul, Khairul Anuar, Wan Mohd
Nur Hasif, Thanachelvan, and Muhammad Hafiz, who is part of my members of same
under supervisor that help me a lot in this making of this final project. May us all are
going through this final project together and success together.
I also would like to thank all parties that involved in my final project, whether
directly or indirectly in helping me to start this project and for their invaluable time,
guidance and advice. That support although small, but it means a lot to me in order to
make sure this project will be successful.
For the last, I will prepare my mind and body to face anything that coming in my
way to finish this project. Thank you very much and may Allah S.W.T bless all of you.
ABSTRACT
PC Based Small Arm Robot project is represented a small arm robot that controlled by Personal Computer (PC) using Graphical User Interface (GUI). The idea behind this project is able to enhance the student knowledge about industrial robot application. Basically, this project is focused on the designing the system include controlling elements. The project was involving mechanical part, hardware and software. These three elements are the main system of this project. A small arm robot is a mechanical part that represented the system output overall. Besides that, the Graphical User Interface (GUI) is developed by using Visual Basic software acted as the panel control through the personal computer (PC). The hardware element of the project is microcontroller circuit in order to manipulate and control the final system. As the additional information, a small arm robot has five degree of freedom (DOF) based on human’s arm. These all degree of freedoms is functioned as joint which is base, shoulder, elbow, wrist and end-effectors. The small arm robot is totally run by servo motors. For this project, the system is interfaced by using Atmel microcontroller. The Atmel microcontroller can manipulate the movement of small arm robot according to the Graphical User Interface (GUI) data signal. Data signal from personal computer (PC) triggered the function program code in microcontroller as the output signal that controls the servo motor rotational motions. Communication between personal computer (PC) and microcontroller circuit is connected by the serial communication integrated circuit (IC) that combined with microcontroller board.
ABSTRAK
PC Based Small Arm Robot merupakan sebuah projek mengaplikasikan robot lengan kecil yang dikawal oleh komputer (PC) dengan menggunakan Graphical User Interface (GUI). Matlamat sebenar projek ini adalah berupaya untuk membantu menambahkan pengetahuan pelajar tentang aplikasi robot industri. Projek ini pada asasnya memfokuskan tentang pembinaan sistem termasuklah elemen pengawalannya. Projek ini melibatkan pembinaan bahagian mekanikal, hardware dan software. Ketiga-tiga elemen ini merupakan sistem yang terpenting dalam projek ini. Robot lengan kecil ini merupakan bahagian mekanikal yang menggambarkan output keseluruhan sistem. Selain daripada itu, Graphical User Interface (GUI) dibangunkan dengan menggunakan perisian Visual Basic yang bertindak sebagai panel kawalan melalui komputer (PC). Elemen hardware dalam projek ini ialah litar microcontroller yang mana dapat memanipulasi dan mengawal keseluruhan sistem akhir. Sebagai maklumat tambahannya, robot lengan kecil ini mempunyai lima sudut kebebasan atau lebih di kenali dengan degree of freedom (DOF) yang berpandukan kepada lengan manusia. Kesemua sudut kebebasan ini (DOF) berfungsi sebagai sendi lengan manusia seperti bahu, siku, pergelangan tangan dan faktor terakhir. Robot lengan kecil ini keseluruhannya digerakkan dengan menggunakan servo motor. Sistem untuk projek ini diperantarakan dengan menggunakan Atmel microcontroller. Atmel microcontroller dapat memanipulasi pergerakan robot lengan kecil berdasarkan kepada isyarat data Graphical User Interface (GUI). Isyarat data daripada komputer (PC) mendetik fungsi kod program di dalam microcontroller sebagai isyarat keluaran yang dapat mengawal pergerakan pusingan servo motor. Komunikasi antara komputer (PC) dan litar microcontroller disambungkan dengan sebuah litar bersepadu komunikasi siri yang bergabung dengan litar microcontroller.
TABLE OF CONTENTS
CHAPTER TITLE PAGE
SUPERVISOR’S DECLARATION ii
STUDENTS’S DECLARATION iii
DEDICATION iv
ACKNOWLEDGEMENTS vi
ABSTRACT vi
ABSTRAK vii
TABLE OF CONTENTS viii LIST OF TABLES xi
LIST OF FIGURES xii
LIST OF ABBREVIATIONS xiv
1 INTRODUCTION
1.1 Background of Project 1
1.2 Project Objective 2
1.3 Problem Statement 2
1.4 Project Scope 2
1.5 Thesis Outline 3
2 LITERATURE REVIEW
2.1 Robot Definition 4
2.2 Industrial Arm Robot 7
2.3 Literature Survey 8
TABLE OF CONTENTS
CHAPTER TITLE PAGE
3 METHODOLOGY
3.1 Introduction 11
3.2 Project Flow and Block Diagram 12
3.3 Priminilary Study 14
3.4 Mechanical Part Designing and Development
3.4.1 Small Arm Robot Designing 15
3.4.2 Robot Casing Designing 19
3.5 Hardware Designing and Development
3.5.1 Circuit Designing 21
3.5.2 Servo Motor Interface 28
3.6 Software Designing and Development
3.6.1 Microcontroller Software Designing and
Development 32
3.6.2 Graphical User Interface (GUI) Deigning and
Development 34
3.7 Testing Overall System
3.7.1 Basic Circuit 40
3.7.2 Microcontroller Port 41
3.7.3 Serial Communication Circuit 42
3.7.4 Servo Motor 44
3.7.5 Graphical User Interface (GUI) and
Microcontroller Software 45
TABLE OF CONTENTS
CHAPTER TITLE PAGE
4 RESULT AND DISCUSSION
4.1 Introduction 50
4.2 Result 50
4.3 Discussion 62
5 CONCLUSION
5.1 Conclusion 65
6 FUTURE RECOMMENDATION
6.1 Future Recommendation 66
REFFERENCES 68
APPENDIX A 69
APPENDIX B 71
APPENDIX C 73
APPENDIX D 79
APPENDIX E 84
LIST OF TABLES
TABLE NO. TITLLE PAGE
4.1 GUI Software 57
4.2 Microcontroller Software 58
LIST OF FIGURES
FIGURE NO. TITLLE PAGE
3.1 Flow Chart 12
3.2 Block Diagram 13
3.3 Small Arm Robot Sketch 15
3.4 Robot Parts 16
3.5 Links of Robot 16
3.6 Link Combination 17
3.7 Combination between Two Links 17
3.8 Gripper with Servo Motor 18
3.9 Base of Small Arm Robot 18
3.10 Acrylic Plastic Plate 19
3.11 Join with Silicon Glue 20
3.12 Schematic Circuit Diagram 21
3.13 Microcontroller AT89C51 22
3.14 Atmel AT89C51 Pin Configuration 23
3.15 Additional Function of P3 24
3.16 Voltage Regulator 25
3.17 A Quartz Crystal Oscillator 12 MHz 26
3.18 A RESET System Connection 26
3.19 The MAX233 Serial Communication Driver 27
3.20 Servo Motor ` 28
3.21 Servo Motor Gears Mechanism Assembly 29
3.22 The Angle Rotation of Servo Motor versus PWM signal 29
3.23 The Feedback Loop of Servo Motor Block Diagram 30
3.24 Servo Motor Wire Pin 31
3.25 Assembler Executable Form 32
LIST OF FIGURES
FIGURE NO. TITLLE PAGE
3.26 Compiler Executable Form 33
3.27 Visual Basic 2008 Start Page 35
3.28 Choosing on Windows Form Application 35
3.29 Form of Visual Basic 2008 36
3.30 GUI Design 37
3.31 HyperTerminal Com Port Setting 43
3.32 COM Properties Setting 43
3.33 GUI Testing Form 45
4.1 A Complete Mechanical Part 1 (Body) 51
4.2 A Complete Mechanical Part 2 (Body) 51
4.3 Small Arm Robot 52
4.4 Robot Casing Box 52
4.5 Complete Hardware Circuit 53
4.6 Result of PWM Period 54
4.7 Result of PWM Signal for Delay Period 54
4.8 Result on Serial Communication Circuit Testing 55
4.9 GUI Output Data via Button Tool 56
4.10 GUI Output Data via Combo Box Tool 57
4.11 Robot Casing Box 59
4.12 Switch, DB-9 port and Power Supply Division 59
4.13 PC Interfacing with Small Arm Robot System 60
4.14 A Complete GUI Form 61
LIST OF ABBREVIATIONS
PC Personal Computer
GUI Graphical User Interface
VB Visual Basic
PWM Pulse Width Modulation
LED Light Emitting Diode
CHAPTER 1
INTRODUCTION
1.1 BACKGROUND OF PROJECT
PC Based Small Arm Robot is described as a model for arm robot that controlled
by PC using Graphical User Interface (GUI) software. A robot has 4-axis and one end-
effector or manipulator that functions as joint to make movement like human’s arm that
each joint completed by servo motors. Data are sent through the Graphical User
Interface (GUI) that interfacing with personal computer (PC) to control the output, a
small arm robot. The end-effector for this small arm robot was gripper.
For this project, the overall system is controlled by using Atmel microcontroller.
The Atmel microcontroller function as controller where all the data that send by user
using GUI software will be process first before it can manipulate the servo motors to
run whatever condition, for example the degree of motor movements or angular motor
shaft position. Both programming code for GUI software and microcontroller are totally
different. The PC Based Small Arm Robot is the integrated project because the
combination of hardware, GUI software and microcontroller software.
1.2 PROJECT OBJECTIVE
The objective of this project is to;
i- Design and develop circuit for interfacing microcontroller
with five servo motor including one gripper.
ii- Design and develop Graphical User Interface (GUI) using
Visual Basic software.
iii- Develop small scale PC Based Small Arm Robot.
1.3 PROBLEM STATEMENT
The problem statements of this project are;
i- Small arm robot as model learning kit to create multiple
applications.
ii- More knowledge and skills in hardware designing.
iii- Reduce dependence on human work to save energy, cost
and time.
1.4 PROJECT SCOPE
The scope of this project is to;
i. Design and construct mechanical parts of robot. It is
consist of 4-axis joint and one gripper.
ii. Build microcontroller assembly programming. The
assembly programming is for servo motor movement.
iii. Build a visual basic interfacing assembly programming.
The Graphical User Interface (GUI) is design using this
software.
1.5 THESIS OUTLINE
This thesis contains 6 chapters and they are outlined as below:
Chapter 1 explains the introduction that includes concept of PC based system. It also
outlines objective and scope of this system.
Chapter 2 describes the revision about literature review and relationship with this
project development.
Chapter 3 provides description about methodology and discussion on the architecture
used and gives a brief review of microcontroller system board architecture.
Chapter 4 presents the result and discussion that conducted to each module. This chapter
includes the integrated system testing which all the modules are combined.
Chapter 5 summarizes the overall conclusion for this project.
Chapter 6 explains about features recommendation for this project.
CHAPTER 2
LITERATURE REVIEW
2.1 ROBOT DEFINITION
Generally, robot can be defined as a programmable device. It is the combination
of mechanical, electrical and electronic elements. Besides that, it is a machine that
functions in place of a living agent. Robots are especially desirable for certain work
functions because, unlike humans, they never get tired. For the examples, they can
endure physical conditions that are uncomfortable or even dangerous, they can operate
in airless conditions and they do not get bored by repetition. There will be save the
human energy and time.
There are many definitions of robots. It seems to be of difficulty to suggest an
accurate meaning for the word robot, that there are various definitions of this word,
different according to the points of view. Some view a robot through the aspect of
reprogramability while others more concern on the manipulation of the robot, behavior,
intelligence and so on.
The British Robot Association (BRA) defines robot as a programmable device
with a minimum of four degrees of freedom designed to both manipulate and transport
parts, tools or specialized manufacturing implements through variable programmed
motion for the performance of the specific manufacturing task.
While the Robotic Institute of America, on the other hand defines the robot as a
reprogrammable multifunctional manipulator designed to move material, parts, tools or
specialized devices through variable programmed motion for the performance of a
variety of tasks.
Based on the definition of robot by the two institutes, it can be concluded that a
robot must be an automatic machine and be able to deal with the changing information
received from the environment.
2.1.1 Word History
The word robot comes from the Czech word robota (compare with the Russian
rabota for "to work") meaning "drudgery", "servitude", or "forced labor", especially the
so-called "labor rent" that survived in the Austro-Hungarian Empire until 1848.
Isaac Asimov, coined the word robotics as the science of the study of robots, in
his science fiction stories about robot in 1940s.Where in Europe, robotics is define as
‘the science of robotology’ and robotology is defines as ‘the means by which robot
machines are put together and made to work’.
Many people think of robotics as a single area of technology, but in fact robotics
encompasses such diverse areas of technology as mechanical, electrical, electronics,
systems, computer, hardware and software and a host of other advanced technology.
2.1.2 The Distinction between Automation and Robotics
'Robots' is only a small sub-set of the technologies covered by the much broader
term Automation'. 'Automation' refers to a mode of operation in which any machine or
piece of equipment is capable of working without human intervention. Originally,
automation was limited in its potential, as automatic machines could only replace
physical effort and not mental effort.
Robots are just one example of flexible automation. Other examples in the
industrial sector are NC machine tools, automated assembly machines (including