Post on 14-Apr-2018
7/27/2019 DISCUSSION AND CONCLUSION lab 2.pdf
http://slidepdf.com/reader/full/discussion-and-conclusion-lab-2pdf 1/2
DISCUSSION AND CONCLUSION
Discussion
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a
human arm; the arm may be the sum total of the mechanism or may be part of a more complex
robot. The links of such a manipulator are connected by joints allowing either rotational motion
or translational (linear) displacement. The links of the manipulator can be considered to form a
kinematic chain. The terminus of the kinematic chain of the manipulator is called the end
effectors and it is analogous to the human hand. The end effector, or robotic hand, can be
designed to perform any desired task such as welding, gripping, spinning etc, depending on the
application. For example robot arms in automotive assembly lines perform a variety of tasks
such as welding and parts rotation and placement during assembly. In some circumstances,
close emulation of the human hand is desired, as in robots designed to conduct bomb
disarmament and disposal. Pneumatic will be used to power a robotic arm. It is generally used
for smaller robots, fewer degree of freedom(DOF) robots and limited to pick-and-place robots.
Pneumatic drive system can be applied to the actuation of piston devices to provide linear
motions and rotational motions can be achieved by rotary actuators
In this lab, the students will program a pneumatic robotic arm using programmable logic
controller(PLC). CX programmer software was used to program the robot by computer. The
Programmable Logic Controller (PLC) is the workhorse of Industrial Control systems. It uses
digital and analog I/O modules to interface to sensors, actuators and other equipment. PLC has
many "input" terminals, through which it interprets "high" and "low" logical states from sensors
and switches. It also has many output terminals, through which it outputs "high" and "low"
signals to power lights, solenoids, contactors, small motors, and other devices lending
themselves to on/off control. In an effort to make PLCs easy to program, their programming
language was designed to resemble ladder logic diagrams. While the CX-Programmer software
is a PLC programming tool for the creation, testing and maintenance of programs associated
with Omron CS1-series PLCs, CV-series PLCs and C-series PLCs.
7/27/2019 DISCUSSION AND CONCLUSION lab 2.pdf
http://slidepdf.com/reader/full/discussion-and-conclusion-lab-2pdf 2/2
Conclusion
The objective of this lab are achieve, in the end of this lab the student should be able to
differentiate the data from experiment for analysis purposes and prepare technical report
according to experimental objective including result, analysis, discussion and conclusion, to
organize good team work during labatory experiments and to organize good leadership skill
during the lavatory experiment.
In this lab, we are introduced to programmable logic controller(PLC), by using CX
programmer software to program the robot by computer. we need to conduct an activities,
where robotic arm cans differentiate the non-metal objects through a capacitive sensor and pick
and place the object from position X to Y Position. First of all, we need to assign I/O for the
given task, connect electro-pneumatic circuit, design ladder diagram using motion diagram and
upload ladder diagram and run the robot.