Engineers Garage

  • Electronic Projects & Tutorials
    • Electronic Projects
      • Arduino Projects
      • AVR
      • Raspberry pi
      • ESP8266
      • BeagleBone
      • 8051 Microcontroller
      • ARM
      • PIC Microcontroller
      • STM32
    • Tutorials
      • Audio Electronics
      • Battery Management
      • Brainwave
      • Electric Vehicles
      • EMI/EMC/RFI
      • Hardware Filters
      • IoT tutorials
      • Power Tutorials
      • Python
      • Sensors
      • USB
      • VHDL
    • Circuit Design
    • Project Videos
    • Components
  • Articles
    • Tech Articles
    • Insight
    • Invention Stories
    • How to
    • What Is
  • News
    • Electronic Product News
    • Business News
    • Company/Start-up News
    • DIY Reviews
    • Guest Post
  • Forums
    • EDABoard.com
    • Electro-Tech-Online
    • EG Forum Archive
  • DigiKey Store
    • Cables, Wires
    • Connectors, Interconnect
    • Discrete
    • Electromechanical
    • Embedded Computers
    • Enclosures, Hardware, Office
    • Integrated Circuits (ICs)
    • Isolators
    • LED/Optoelectronics
    • Passive
    • Power, Circuit Protection
    • Programmers
    • RF, Wireless
    • Semiconductors
    • Sensors, Transducers
    • Test Products
    • Tools
  • Learn
    • eBooks/Tech Tips
    • Design Guides
    • Learning Center
    • Tech Toolboxes
    • Webinars & Digital Events
  • Resources
    • Digital Issues
    • EE Training Days
    • LEAP Awards
    • Podcasts
    • Webinars / Digital Events
    • White Papers
    • Engineering Diversity & Inclusion
    • DesignFast
  • Guest Post Guidelines
  • Advertise
  • Subscribe

Computerized wireless Pick and Place Robot

By Ashutosh Bhatt January 19, 2021

This is the most advance version of “Pick and Place Robot” perhaps and most popular and widely used in recent industries. A person from a remote place can comfortably control the motion of robotic arm without any wire connection.

Again there are two systems one at the transmitter side in which a software program written in VC++ generates control signals. These signals are encoded and transmitted by RF transmitter chip. At another end RF receiver chip will demodulate these signals and decoder will decode it. Finally 89C51 will take desired controlling action on robotic arm.   

This one is similar kind of project as pick n place robot but there are two major changes

1)     The mechanical structure is wirelessly controlled from a remote computer

2)     The mechanical structure a robotic arm is actually working instrument in industries not just simple project

Here a man from a remote place of around 50-100 mts range sitting on his chair with his computer can easily control the mechanism by the keyboard or mouse. An ASK transmitter attached with computer transmits the controlling codes. These codes are received by ASK receiver, decoded and given to 89C51 which then controls the motion of robotic arm. So as per user command through computer the motion of robotic arm is controlled from a remote place without any wire connection.

Let us first start with mechanism

Mechanical structure of Robotic Arm:-

Robotic Arm of Pick n place robot

The figure given below shows complete outer structure of robotic arm. The complete body is made up of solid steel. All the motions are perfectly calibrated and controlled. The complete size with all dimensions are as indicated. There are various motions in this arm

  • Circular motion of hand: – the arm can rotate complete in 360o  circle with the help of ¼ HP, 0.2 A, 230 V bidirectional AC motor (ACM1) which has maximum of 5 RPM  at rated 230 VAC
  • Vertical motion of hand: –the hand can move down lower then 0o up to -30o to maximum up to 90o. This motion is divided in two parts. Lower hand and upper hand. The lower hand moves up and down due to ¼ HP, 0.2 A, 230 V bidirectional AC motor (ACM2) which has maximum of 5 RPM  at rated 230 VAC. The upper hand is moved by 6 V DCgear motor (DCM2)
  • Circular motion of grip: – the grip can freely rotate in either direction in complete 360o circle due to 5 VDC bipolar stepper motor with 18o step resolution.
  • Opening closing of grip:-the maximum opening of grip is 5 cm and minimum is 0.5 cm. the same type of 6 VDC gear motor (DCM1) is utilize for this motion.  

So for all the motions we have one motor total of five motors. All five motors provides full flexibility to mechanism so that it can pick and place an object vary easily.

Now we shall start with controlling of this mechanism. There are two parts

1)     Computerize ASK transmitter: – this is a small hardware attached to LPT port of computer which transmits the action codes given by a software program prepared in VC++.

2)     89C51 based ASK receiver: – it consist of ASK receiver, decoder and micro controller 89C51. It controls all the motions of robotic arm by controlling all five motors depending upon the command given by user. 

 Computerized ASK Transmitter

Computerize ASK transmitter: –

This part is further divided in to two parts (1) software and (2) hardware

Software Part: – the figure given below shows application design.

Robotic Arm Software

It has 10 command buttons for 10 different motions. Here is the description for their properties.

Sr. No.

item

property

setting

function

1

Button1

ID

caption

IDC_CLK

Clockwi&se

Rotates hand 30o clockwise when button is pressed once

2

Button2

ID

caption

IDC_ACLK

&AntiClockwise

Rotates hand 30oanticlockwise when button is pressed once

3

Button3

ID

caption

IDC_CLKW

Rotate Clock&wise

Pressing the buttons once will rotate the grip 75oclockwise

4

Button4

ID

caption

IDC_ACLKW

Rotate Anticlockwis&e

Pressing the buttons once will rotate the grip 75oanticlockwise

5

Button5

ID

caption

IDC_CLS

C&lose

Opens the grip by 0.5 cm on pressing button once

6

Button6

ID

caption

IDC_OPN

&Open

Closes the grip by 0.5 cm on pressing button once

7

Button7

ID

caption

IDC_UP1

&Move Up

Moves lower part of hand 30o upward when button is pressed once

8

Button8

ID

caption

IDC_DWN1

Move Dow&n

Moves lower part of hand 30odownward when button is pressed once

9

Button9

ID

caption

IDC_UP2

Move Up

Moves upper part of hand 30o upward when button is pressed once

10

Button10

ID

caption

IDC_DWN2

Move Down

Moves upper part of hand 30odownward when button is pressed once

Actually each button sends one particular code to LPT port that will be transmitted by ASK transmitter. Each code triggers on particular motion in hand.

One of the functions that send code to LPT is as written below

 

void CRoboticHandDlg::OnClk()

{

     // TODO: Add your control notification handler code here

     _outp(0x0378, 0xE1);         //enables transmission and sends the code to LPT

     Sleep(200);             // wait for 0.2 second

     _outp(0x0378,0x10);     // disable transmission

}

Here are the codes that triggers one particular motion

 

01h*             :        rotate hand clockwise

02h              :        rotate hand anticlockwise

03h              :        rotate grip clockwise

04h              :        rotate grip anticlockwise

05h              :        move lower hand upward

06h              :        move lower hand downward

07h              :        move upper hand upward

08h              :        move upper hand downward

 

* “h” indicates all the codes are in hex format.  

 

Now let us see the small hardware that will transmit these codes 

Hardware Part: –the block diagram of this part is as shown in figure.

 

 

 

 

 

ASK Transmitter Kit

As shown in figure a 16 channel ASK transmitter is connected with 25 pin D-type male/female connector. The data pins D0-D3 of connector are connected with data pins of encoder chip (HT12E). The D4 pin connected with transmission enable (TE) pin of encoder chip. The output of encoder chip is given as input to 434 MHz ASK transmitter that will modulate the data with carrier signal and transmit it via suitable antenna. As there are four bits we can send maximum 16 different codes through this transmitter that’s why it is 16 channel ASK transmitter.

 89C51 Based ASK Receiver

89C51 based ASK receiver: –

The figure given below shows the circuit diagram of receiver

89C51 based ASK receiver

The main blocks of receiver are 89C51 based ASK receiver, current driver chip ULN and bipolar stepper motor driver.

 

ULN chip is used to energize 8 relays which turn ON or OFF all four motors (2 AC and 2 DC motors) and also change its direction. There are 8 relays out of them 4 are single change over (c/o) and other 4 are two change over. To start or stop the motor and also change its direction one single c/o and one two c/o relay are needed. The connection is done such a way that when single c/o relay is energized it will start the motor and when de-energized stops the motor. Second 2 c/o relay changes the direction as it changes over from one to other position. Thus each motor needs two relays one for start and stop and second for direction change.

 

The standard H-bridge circuit is used in bipolar stepper motor driver. For more details of this circuit click here.

 

Internal blocks of receiver are also indicated in corner. The main parts are 434 MHz ASK receiver, decoder chip (HT12D) and micro-controller 89C51. The ASK receiver will demodulate the signal and give encoded data to decoder. Decoder will decode it and gives to 89C51. The port P0 of 89C51 is used to control stepper motor through driver and port P2 is used to control other four motor through ULN chip. All eight pins of P2 drives one relay thorough ULN chip.

 

The heart of whole circuit is 89C51 as it handles all the functions like getting code from decoder, compare them with stored codes, control the motion of hand by triggering any of the five motors. It performs eight different functions as told by transmitter on getting eight different codes. It has eight subroutines for these functions. Each code when received and decoded will call one particular subroutine. When subroutine is executed the program again waits for next user command. At a time we can send only one command so only one motion is triggered at a time.

 

Working operation: –

  • On pressing any of command buttons from computer program will send one of the codes to LPT port. For example code 02h is sent to rotate hand anticlockwise
  • The ASK transmitter attached to LPT will transmit the code over 434 MHz carrier
  • On receiver side ASK receiver demodulate the code and give to decoder chip
  • The decoded code is given to 89C51. It will compare this code with stored codes and when match found it will energize RL1 and RL2 both to rotate ACM1 anticlockwise so that hand will rotate anticlockwise. The controller will exactly move hand to 30o and then stops it.
  • Now controller will wait for next command
  • Again when next command button is pressed same process repeats

 

 

 

You may also like:


  • Understanding the degree of freedom in robots

  • What are different types of industrial robots?

  • What battery chemistries are used in electric vehicles?

  • What are the different types of EV charging connectors?

  • What are the components of robotic arms and industrial robots?
  • battery selection low power design
    What are the battery-selection criteria for low-power design?

Filed Under: Electronic Projects
Tagged With: robot
 

Next Article

← Previous Article
Next Article →

Questions related to this article?
👉Ask and discuss on EDAboard.com and Electro-Tech-Online.com forums.



Tell Us What You Think!! Cancel reply

You must be logged in to post a comment.

EE TECH TOOLBOX

“ee
Tech Toolbox: 5G Technology
This Tech Toolbox covers the basics of 5G technology plus a story about how engineers designed and built a prototype DSL router mostly from old cellphone parts. Download this first 5G/wired/wireless communications Tech Toolbox to learn more!

EE Learning Center

EE Learning Center
“engineers
EXPAND YOUR KNOWLEDGE AND STAY CONNECTED
Get the latest info on technologies, tools and strategies for EE professionals.

HAVE A QUESTION?

Have a technical question about an article or other engineering questions? Check out our engineering forums EDABoard.com and Electro-Tech-Online.com where you can get those questions asked and answered by your peers!


RSS EDABOARD.com Discussions

  • Inconsistent Charge Termination Voltage with battery charger
  • 21V keeps getting shorted to my UART line.
  • Voltage mode pushpull is a nonsense SMPS?
  • Voltage mode push pull with extra DC blocking capacitor
  • NXP library issue in awr

RSS Electro-Tech-Online.com Discussions

  • Is AI making embedded software developers more productive?
  • Why can't I breadboard this oscillator?
  • using a RTC in SF basic
  • Parts required for a personal project
  • Cataract Lens Options?

Featured – RPi Python Programming (27 Part)

  • RPi Python Programming 21: The SIM900A AT commands
  • RPi Python Programming 22: Calls & SMS using a SIM900A GSM-GPRS modem
  • RPi Python Programming 23: Interfacing a NEO-6MV2 GPS module with Raspberry Pi
  • RPi Python Programming 24: I2C explained
  • RPi Python Programming 25 – Synchronous serial communication in Raspberry Pi using I2C protocol
  • RPi Python Programming 26 – Interfacing ADXL345 accelerometer sensor with Raspberry Pi

Recent Articles

  • GigaDevice launches GD32C231 MCU series with 48MHz Cortex-M23 core and 64KB Flash
  • Advanced Energy releases 425 W CF-rated medical power supply in 3.5 x 6 x 1.5-inch format”
  • LEM combines shunt and Hall effect sensing in 2000 A current measurement unit
  • What is AWS IoT Core and when should you use it?
  • AC-DC power supply extends voltage range to 800 V DC

EE ENGINEERING TRAINING DAYS

engineering

Submit a Guest Post

submit a guest post
Engineers Garage
  • Analog IC TIps
  • Connector Tips
  • Battery Power Tips
  • DesignFast
  • EDABoard Forums
  • EE World Online
  • Electro-Tech-Online Forums
  • EV Engineering
  • Microcontroller Tips
  • Power Electronic Tips
  • Sensor Tips
  • Test and Measurement Tips
  • 5G Technology World
  • Subscribe to our newsletter
  • About Us
  • Contact Us
  • Advertise

Copyright © 2025 WTWH Media LLC. All Rights Reserved. The material on this site may not be reproduced, distributed, transmitted, cached or otherwise used, except with the prior written permission of WTWH Media
Privacy Policy

Search Engineers Garage

  • Electronic Projects & Tutorials
    • Electronic Projects
      • Arduino Projects
      • AVR
      • Raspberry pi
      • ESP8266
      • BeagleBone
      • 8051 Microcontroller
      • ARM
      • PIC Microcontroller
      • STM32
    • Tutorials
      • Audio Electronics
      • Battery Management
      • Brainwave
      • Electric Vehicles
      • EMI/EMC/RFI
      • Hardware Filters
      • IoT tutorials
      • Power Tutorials
      • Python
      • Sensors
      • USB
      • VHDL
    • Circuit Design
    • Project Videos
    • Components
  • Articles
    • Tech Articles
    • Insight
    • Invention Stories
    • How to
    • What Is
  • News
    • Electronic Product News
    • Business News
    • Company/Start-up News
    • DIY Reviews
    • Guest Post
  • Forums
    • EDABoard.com
    • Electro-Tech-Online
    • EG Forum Archive
  • DigiKey Store
    • Cables, Wires
    • Connectors, Interconnect
    • Discrete
    • Electromechanical
    • Embedded Computers
    • Enclosures, Hardware, Office
    • Integrated Circuits (ICs)
    • Isolators
    • LED/Optoelectronics
    • Passive
    • Power, Circuit Protection
    • Programmers
    • RF, Wireless
    • Semiconductors
    • Sensors, Transducers
    • Test Products
    • Tools
  • Learn
    • eBooks/Tech Tips
    • Design Guides
    • Learning Center
    • Tech Toolboxes
    • Webinars & Digital Events
  • Resources
    • Digital Issues
    • EE Training Days
    • LEAP Awards
    • Podcasts
    • Webinars / Digital Events
    • White Papers
    • Engineering Diversity & Inclusion
    • DesignFast
  • Guest Post Guidelines
  • Advertise
  • Subscribe