Robotic Arm with Linear Controller to Screw Beverage Cap

Soh, Chin Ann (2022) Robotic Arm with Linear Controller to Screw Beverage Cap. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Today, assembly machine was rapidly developed due to the demand of the manufactured product increases rapidly to solve the demand of the product problems, manufacturers and researchers are always designing new technologies to solve the problem. Assembled machine can be controlled by human operator and to operate the process all day long, this will reduce manpower and can increase the productivity. Through this great development, human had continued to develop new technology to solve the specific purposes, one of the latest technologies which is autonomous robotic arm. Robotic arm can be used to replace human arm to solve more tasks which human cannot solve such as working in hazard place, contact with explosive chemical and others. In order to handle the task more accurately and effectively, human still continued investigate the controller to control the robotic arm to perform the task with higher efficiently and accurately. In this project, the robotic arm will be designed with conventional controller like Proportion- Integration-Derivation (PID) controller to screw different height of beverage bottle, to make sure all of the beverage bottle can be screwed tightly with accurate force and speed by controller. In future work, the robotic arm will design more advance controller such as sliding mode controller to screw the cap of beverage bottle, in order to solve the uncertainly and not stable. Robotic arm is a machine that are programmed to solve the task effective like human arm. there are many types of robotic manipulators selling in market in industry such as articulated robot arm, gantry robots, delta robots and collaborative robots. The different types of robotic arm have different characteristics and uses. Through chapter 2 literature review, collaborative robotic arm and articulated robotic arm is discussed. Collaborative robots can work with worker in a safe work environment without safety measures in application. Articulated robot arm can move flexible like a human arm because normally articulated arm has more joints or axis and it can lift heavy object. Furthermore, robotic arm can be controlled by different controller to perform the task more accuracy and precision. There are different type controllers including conventional and advance controller can be designed to control the robotic arm. In conventional controller, PID controller are widely used in the industry robotic because it was flexibility, relative simplicity and great performance. PID controller suitable for a variety of application in industry because it can cope with a wider range process. For example, a position control of arm mechanism controlled can be PID controller. Besides that, SOLIDWORK software and MATLAB software will be used in this project. Through study on different review, robotic arm will be designed using SOLIDWORK based on the knowledge from the literature review. After that, the designed robotic arm will be exposed to MATLAB to perform simulation for PID controller. Through the simulation for articulate robotic arm with PID controller and without controller, the PID controller is faster and stable than without controller to reach the desired position because the PID controller have an optimum value of parameters to help to reduce the overshooting, raise time and settling time and make the robotic arm more stable and faster to reach the desired position. In the future work, the advance controller will be used to replace the PID controller to control the robotic arm because the advance controller are expected improve thei performance by controlling uncertainties and disturbances