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2nd International Conference on Materials
Procedia Manufacturing Manufacturing
20 (2018) 400–405
Procedia Manufacturing 00 (2017) 000–000
and Design Engineering
2nd International Conference on Materials Manufacturing
2nd International Conference on Materials Manufacturing and Design and Design
EngineeringEngineering
www.elsevier.com/locate/procedia
Concept for Automated Sorting Robotic Arm
Concept
2nd International Conferencefor Automated
on Materials Sorting
Manufacturing
Concept for Automated Sorting Robotic Arm
andRobotic Arm
Design Engineering
Shah R., Pandey A. B.*
Concept for Automated
Shah
Department of Mechanical
Shah
R., R.,Sorting
Pandey
Engineering,
Pandey
Faculty ofA.
Robotic
B.*A.&B.*
Technology Engineering,
Arm
Manufacturing Engineering Society
The Maharaja Sayajirao
Department
International
University of
of Mechanical
Conference
Baroda, Vadodara,
Engineering,
2017,
Gujarat,
Faculty of
MESIC
India,
Technology
2017, 28-30 June
& Engineering,
Shah
2017, Vigo
Department of Mechanical R., PandeyFacultyA.
(Pontevedra),
Engineering,
*akashpandey@gmail.com B.*
Spain
of Technology & Engineering,
The Maharaja Sayajirao University of Baroda, Vadodara, Gujarat, India,
The Maharaja Sayajirao University of Baroda, Vadodara, Gujarat, India,
rohan_2710@yahoo.co.in
*akashpandey@gmail.com
Department of Mechanical*akashpandey@gmail.com
Engineering, Faculty of Technology & Engineering,
Costing models for capacity optimization in Industry 4.0: Trade-off rohan_2710@yahoo.co.in
rohan_2710@yahoo.co.in
The Maharaja Sayajirao University of Baroda, Vadodara, Gujarat, India,
*akashpandey@gmail.com
Abstract
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Abstract
© 2017The Authors. Published by Elsevier B.V.
industry to eliminate this problem.
Peer-review under responsibility
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processes will be pushed to be increasingly interconnected,
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Keywords:Robotic traditional
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Keywords:Robotic Arm; and continuous
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Automation; Sorting; Sensors; Motors
maximization. The study of capacity optimization and costing models is an important research topic that deserves
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Keywords:Robotic Arm; Automation; Sorting; Sensors; Motors
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Keywords: Cost Models; ABC; TDABC; Capacity Management; Idle Capacity; Operational Efficiency
hand. The end effector can be designed to perform any desired task such as welding, gripping, spinning etc.,
* Corresponding author. Tel.: +0-000-000-0000 ; fax: +0-000-000-0000 .
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10.1016/j.promfg.2018.02.058
 R. Shah et al. / Procedia Manufacturing 20 (2018) 400–405 401
2 Author name / Procedia Manufacturing 00 (2017) 000–000

depending on the application. Our robotic manipulator can be used in a number of applications by changing the
program of controller. Moreover, by selecting appropriate capacity of motors, the arm will be capable to lift light
loads (e.g. household applications), as well as heavy loads (e.g. industrial applications).

2. Design of Robotic Arm

On the basis of degree of freedom of the arm and the type of joints used, a robotic arm can have any of the
following designs:

 Cartesian robot
 Cylindrical robot
 Spherical robot
 Articulated robot
 SCARA (Selective Compliance Assembly Robotic Arm) [1]

2.1. Cartesian Robot

In this the kinematic structure of a robot arm is made of three mutually perpendicular prismatic joints. The wrist
center position of of a Cartesian robot can be conveniently described by three Cartesian co-ordinates associated with
the three prismatic joints. The regional work-space of a Cartesian robot is a rectangular box.

2.2. Cylindrical Robot

A robot arm is called cylindrical robot if either the first or second joint of a Cartesian robot is replaced by a revolute
join. The wrist center position of a cylindrical robot can be described by a set of cylindrical coordinate system
associated with the three joint variables. The workspace of a cylindrical robot is confined by two concentric
cylinders of finite length.

2.3. Spherical Robot

A robot arm is called a spherical robot if either the first or second joint of a Cartesian robot is replaced by a revolute
joint. The wrist center position of a spherical robot can be described by a set of spherical coordinate system
associated with the three joint variables. The workspace of cylindrical robot is confined by two concentric spheres.

2.4. Articulated Robot

A robot arm is said to be an articulated robot if all three joints are revolute. The workspace of an articulated robot
is very complex, typically a crescent shaped cross.

2.5. SCARA

It is a special type of robot consisting of two revolute joints followed by a prismatic joint. All three joint axes are
parallel to each other and usually point along the direction of gravity. The wrist has one degree of freedom and
hence the entire robot has 4 degrees of freedom. This type of robot is useful for assembling parts on a plane.
402 R. Shah et al. / Procedia Manufacturing 20 (2018) 400–405
Author name / Procedia Manufacturing 00 (2017) 000–000 3

Fig. 1. Types of robotic arms

3. Microcontroller

A highly integrated chip that contains all the components comprises a Controller. Typically this includes a CPU,
RAM, some form of ROM, I/O ports, and timers. Unlike a general-purpose computer, which also includes all of
these components, a micro controller is designed for a very specific task -- to control a particular system. As a result,
the parts can be simplified and reduced, which cuts down on production costs. [2]
Microcontrollers are sometimes called embedded micro controllers, which just means that they are part of an
embedded system -- that is, one part of a larger device or system

3.1. Microcontrollers used in similar applications

 PLC, which was used for controlling and handling all processes in “Automatic Sorting Machine using Delta
PLC” [3], by Babita Nanda.
 Arduino Uno, used for controlling the system in “Object Sorting using Color Sensor and Arduino”. [4]
 Atmega of the Atmel corp, used in “Automatic Sorting System using Machine Vision”. [5]

Here, for this concept, Arduino Uno microcontroller is considered, as it provides the optimum processing
capabilities required to handle the components mentioned in this project, while simultaneously avoiding the
complexities existing in other high-grade controllers.

Arduino/Genuino Uno is a microcontroller board based on the ATmega328P. It has 14 digital input/output pins
(of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power
jack, an ICSP header and a reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to- DC adapter or battery to get started. [6]
 R. Shah et al. / Procedia Manufacturing 20 (2018) 400–405 403
4 Author name / Procedia Manufacturing 00 (2017) 000–000

Fig. 2. Arduino Uno R3 Controller

4. Radar

Many other sorting machines have been built using Machine Vision[5] as medium for detecting the location and
shape of the object, but this increases complexity of the system. Instead, the purpose of detecting the object in our
project can be accomplished by using a radar system.
Radar can be constructed by mounting an ultrasonic sensor on a servo motor, which will return polar coordinates
of any object detected in its vicinity. [7]

4.1. Ultrasonic Sensor

Ultrasonic sensors are transducers that convert ultrasonic waves to electrical signals or vice versa. Those that
both transmit and receive these waves are called ultrasound transceivers.
These devices work on a principle similar to that of transducers used in radar and sonar systems, which evaluate
attributes of a target by interpreting the echoes from radio or sound waves, respectively.

5. Sorting Hardware

The robotic arm can sort objects on the basis of variousattributes of the object and a number of sensors are
available for this purpose, such as:
 Color Sensor [4]
 Tactile Sensor
 RGB Sensor
 Barcode scanner [8]
 QR code scanner
 VGA camera module[9]

ab c

Fig. 3. (a) VGA Camera module; (b) Barcode scanner; (c) QR code scanner

a b c

Fig. 4. (a) RBG sensor; (b) Tactile sensor; (c) Color sensor
404 R. Shah et al. / Procedia Manufacturing 20 (2018) 400–405
Author name / Procedia Manufacturing 00 (2017) 000–000 5

6. Actuators

Most of the projects working on sorting function use conveyors [4][5] operating on DC motors for transferring
the objects from one location to another, along with some sensors to provide a feedback loop. But our project
utilizes a robotic arm for lifting the object (whose initial position may not be fixed), which requires high accuracy.
For this purpose, using servo motors at the robotic arm’s joint is the most effective solution.
A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or linear position,
velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. It also requires
arelatively sophisticated controller, often a dedicated module designedspecifically for use with servomotors.
Basically, servo motors are classified into AC and DC servo motors dependingupon the nature of supply. [10]

6.1. DC Servo Motors

A DC servo motor consists of a small DC motor, feedback potentiometer, gearbox, motor drive electronic circuit
and electronic feedback control loop. It is more or less similar to the normal DC motor.

6.2. AC Servo Motors

AC servo motors are basically two-phase squirrel cage induction motors and are used for low power applications.
Nowadays, three phase squirrel cage induction motors have been modified such that they can be used in high power
servo systems.

7. Additional features

7.1. Automatic Guided Vehicle (AGV)

The robotic arm can be mounted on an Automatic guided vehicle so that the arm can move towards out of reach
objects

7.2. Manual or Automatic Control

The arm can be programmed to function automatically on its own or also manually by using hand held remote
based on the requirement of the task.

7.3. End effectors

The end effector used in the project can be replaced by other types of effectors, such as:
 Magnetic gripper
 Vacuum Gripper
 Gripper with Pressure pads

a b c

Fig. 5. (a) Magnetic Gripper; (b) Vacuum Gripper; (c) Pressure pad gripper
 R. Shah et al. / Procedia Manufacturing 20 (2018) 400–405 405
6 Author name / Procedia Manufacturing 00 (2017) 000–000

7.4. Scaling of the project

We can adapt the project to large scale applications by using higher capacity motors and better & faster
microcontrollers.

7.5. Smart Functionality

The project can also be programmed to react to vocal commands as well as give vocal feedbacks, by
incorporating microphone, speaker and other appropriate hardware modules.

7.6. Wireless Communication

A Bluetooth module (like HC05) [9] can be incorporated in the project to provide a wireless communication
feature to send commands and receive feedbacks from the system.

8. Working

Fig. 6. Flowchart for working procedure

9. Conclusion

As compared to most other projects based on sorting

sort functionality, this concept provides more flexibility and
versatility in terms of detecting the object and selecting a physical feature of the object for sorting purpose.
By adopting this design in every industry which requires sorting functionality (like postal services, manufacturing
manufactur
industry, etc.),, productivity can be increased greatly.
greatly. Moreover, the employee initially assigned for this task can
utilize his for some more important and recreational tasks.
This robotic arm can also be used in daily household activities, such as, sorting
sorting crockery in the kitchen, sorting
stationaries in the study, etc., thereby reducing unproductive time.

10. References

[1] Robotics for Engineers, by Yoram Koren

[2] https://www.trossenrobotics.com/
[3] “Automatic Sorting Machine Using Delta PLC”,, International Journal of Innovative Research in Advanced Engineering (IJIRAE) (IJI
ISSN: 2349-2163 Volume: 1 Issue: 7 (August 2014)
[4] “Object Sorting Using Color Sensor and Arduino”,, International Journal on Recent and Innovation
Innovation Trends in Computing and Communication
ISSN: 2321-8169 Volume: 4 Issue: 4
[5] “Automatic Sorting System Using Machine Vision”,, Multi-Disciplinary
Multi Disciplinary International Symposium on Control, Automation & Robotics,
at DDIT, Nadiad Volume:1
[6] https://www.arduino.cc/en/Guide/Introduction
[7] https://www.howtomechatronics.com
[8] “Automatic Sorting Machine”,, Journal for Research ISSN: 2395-7549
2395 Volume: 2 Issue: 4 (June 2016)
[9] https://en.wikipedia.org/
[10] www.electronicshub.org/servo-motors/