Chapter 5

Working
The robotic arm was manufactured keeping in view the height and distance from the
conveyor belt. The height of the conveyor belt is 22cm. The pick and place operation was
impossible by using 1 DOF so, 2 DOF were used. Hence, considering the dimensions of
the conveyor belt lengths of the link 1 and link 2 of the manipulator were taken as 33cm
and 30cm. The full stretch length of the manipulator becomes 63cm, which is enough to
sort the objects. The fabricated robotic arm can be observed in figure 5.1.

Figure 5.1 Fabricated Robotic Arm
WORKING
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As in the figure 5.2 can be observed that the object is passed on the conveyor belt. As
soon as the object enters the field of view of the camera, camera captures an image. The
operation can be observed in figure 5.2.

Figure 5.2 System in Operation
Once the image is captured different image processing techniques are implemented. To remove
the noises from the image median filter is applied. The shapes are identified using the area
analysis. Once the shape is known a signal is sent serially from the Simulink via Arduino UNO
(Microcontroller) to the manipulator. The robotic arm then picks the object from the conveyor
belt and places it in its respective position. The picking operation of the robotic arm could be
observed in the figure 5.3.
AUTONOMOUS OBJECT SORTING ROBOTIC SYSTEM


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Figure 5.3 Robotic Arm Picking Object
The operation is done once the object is grabbed. and then the elbow joint is actuated and
the object is held up in the air, then the base then rotates and goes to the specific position
where the object lies and releases it in its position. The positions are predefined, and two
boxes are placed at different locations one for each type of object. After placing the
object manipulator returns to its original position and is ready to sort other objects
coming on the conveyor belt. The placing operation by the manipulator can be seen in the
figure 5.4.
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Figure 5.4 Robotic Arm Placing Object
The practical with handling two types of objects circular and rectangular was a success and the
positive thing of this type of system is that the chances of failure are very less, and it works
efficiently.